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A distributed drive unmanned vehicle path tracking control method and system

A technology of path tracking and unmanned vehicles, which is applied in vehicle position/route/height control, control/regulation system, non-electric variable control, etc., and can solve the problems of inability to ensure ideal curvature tracking, path tracking control control accuracy reduction, errors, etc. problem, to achieve the effect of high closed-loop response bandwidth, enhanced transverse open-loop gain, and easy engineering implementation

Active Publication Date: 2022-05-20
CHINA NORTH VEHICLE RES INST
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Problems solved by technology

[0005] (2) Curvature is not a physical quantity that can be directly measured, and indirect state calculation will inevitably bring errors; in addition, the bottom layer cannot ensure the ideal tracking of curvature, and the accumulation of layer-by-layer errors will greatly reduce the overall control accuracy of path tracking control

Method used

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  • A distributed drive unmanned vehicle path tracking control method and system
  • A distributed drive unmanned vehicle path tracking control method and system
  • A distributed drive unmanned vehicle path tracking control method and system

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Embodiment 2

[0102] On the basis of the above-mentioned embodiment 1, in order to realize the above-mentioned control, a control system including a path-tracking deviation modeling module, a path-tracking control module, a combined feedback control module and a compound steering matching module is designed.

[0103] The path tracking deviation modeling module is used to calculate the lateral position deviation and heading angle deviation according to the expected path tracking point and the current center of mass position of the vehicle, so as to realize lateral position control;

[0104] The path tracking control module performs path tracking control according to the state information fed back by the vehicle, including receiving the state information fed back by the vehicle (including the actual longitudinal speed of the vehicle), and performing path tracking longitudinal speed planning (that is, calculating the expected speed v d ), calculate the path tracking longitudinal control amount ...

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Abstract

The present invention provides a path tracking control method and system for distributed driving unmanned vehicles, which adopts a lateral control scheme directly mapped from deviation control to compound steering control quantity, which is simple and intuitive; the combined feedback control algorithm adopted can not only ensure the stability of control response It is also convenient for engineering realization and parameter adjustment; at the same time, in the longitudinal direction, the distributed independent controllable dynamic characteristics are fully utilized through multi-wheel independent torque distribution and compound braking. The path-following control includes: the calculation of the lateral control amount, the calculation of the longitudinal control amount, the mapping of the lateral / longitudinal control amount to the torque distribution in the underlying actuator, and the mapping of the lateral / longitudinal control amount to the compound braking torque in the underlying actuator Distribution; where the lateral control amount refers to the steering angle, and the longitudinal control amount refers to the driving control amount or braking control amount.

Description

technical field [0001] The invention belongs to the technical field of automatic driving or unmanned vehicle control, and in particular relates to a path tracking control method and system for distributed drive unmanned vehicles. Background technique [0002] Path-following control is one of the basic key technologies for autonomous driving of unmanned vehicles. Especially for distributed electric drive vehicles, how to use its independently controllable dynamic potential to improve the stability and control accuracy of path-following control is a research focus. [0003] Closed-loop control is generally decomposed into two issues, namely, the structure of the closed-loop control loop and the control algorithm. The structure of the closed-loop control system should make use of the observability and controllability of its object dynamics and physical intuition, formulate a reasonable loop structure, and then design the feedback control law based on the system output informati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223Y02T10/72
Inventor 汪洋李胜飞崔星程文赵熙俊
Owner CHINA NORTH VEHICLE RES INST
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