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Method, system, computer device and readable storage medium for vehicle trajectory control

A vehicle trajectory, vehicle technology, applied in the control/regulation system, vehicle position/route/height control, non-electric variable control and other directions, can solve the problem of reducing the stability of the vehicle trajectory control system

Active Publication Date: 2021-07-27
福瑞泰克智能系统有限公司
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  • Abstract
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  • Application Information

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Problems solved by technology

[0005] The embodiment of the present application provides a method, system, computer equipment and readable storage medium for vehicle trajectory control, so as to at least solve the controller design based on the state space theory in the related art. The problem of reduced stability of the trajectory control system

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  • Method, system, computer device and readable storage medium for vehicle trajectory control
  • Method, system, computer device and readable storage medium for vehicle trajectory control
  • Method, system, computer device and readable storage medium for vehicle trajectory control

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Embodiment Construction

[0047] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0048] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ...

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Abstract

The present application relates to a vehicle trajectory control method, system, computer equipment and readable storage medium, wherein the vehicle trajectory control method includes: by obtaining the lateral error and heading error of the vehicle, according to the lateral error, heading error and vehicle system power According to the dynamic space model, the system state space equation is established; according to the lateral error and vehicle speed, the disturbance matrix is ​​obtained through the fuzzy control system; in the system state space equation, the disturbance matrix is ​​introduced to get the correction The system state space equation, through the optimal control method, calculates the expected front wheel angle of the vehicle according to the modified system state space equation. Through this application, the controller design based on the state space theory in the related art is solved. When the environment is disturbed, the stability of the vehicle trajectory control system is reduced, and the stability of the vehicle control system under extreme conditions such as large errors and strong disturbances is improved.

Description

technical field [0001] The present application relates to the technical field of automatic driving, in particular to a method, a system, a computer device and a readable storage medium for vehicle trajectory control. Background technique [0002] With the development of automobile industry technology, automobile intelligence has attracted much attention. As an important part of automobile intelligence, unmanned driving technology has gradually become a competitive point for major manufacturers at home and abroad. Among them, vehicle trajectory control is an indispensable key technical link in unmanned driving systems. Since vehicle trajectory control not only undertakes upstream positioning, perception, decision-making and planning modules, but also connects with downstream vehicle actuators, the quality of trajectory tracking performance is directly related to It is related to the driving safety and driving experience of unmanned vehicles. At present, the mainstream trajec...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F30/15G05D1/02
CPCG05D1/021
Inventor 郑体强林乾浩
Owner 福瑞泰克智能系统有限公司
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