Vehicle reference trajectory tracking method and system

Abstract

The invention provides a vehicle reference trajectory tracking method and system. The vehicle reference trajectory tracking method comprises the steps: acquiring the current speed of a vehicle, the yaw velocity of the vehicle, the curvature of a reference trajectory, the relative course angle deviation and the relative transverse position deviation of the vehicle and the reference trajectory and the expected performance index of a vehicle motion controller in real time; according to the current vehicle speed, the vehicle yaw velocity, the curvature, the relative course angle deviation, the relative transverse position deviation and the expected performance index, calculating to obtain an expected yaw velocity; and calculating to obtain a final steering wheel angle of the vehicle accordingto the expected yaw velocity, and controlling the vehicle to output the final steering wheel angle. The controller is directly designed according to expected performance indexes of the motion controller, and the method has the advantages of being good in control effect, small in parameter adjustment workload, capable of shortening the development period and the like.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a method and system for tracking a vehicle reference trajectory. Background technique [0002] Vehicle motion control is one of the key technologies of self-driving cars. It is based on the vehicle trajectory of environmental perception and decision-making planning, and accurately follows the planned target trajectory by controlling the accelerator, braking and steering. During the process, basic operations such as speed adjustment, vehicle distance maintenance, lane change, and overtaking can be realized, in order to ensure the safety, maneuverability and stability of the vehicle. [0003] How to control the vehicle to better follow the target trajectory is the core problem to be solved by motion control. In response to this problem, most technicians at this stage improve the trajectory tracking accuracy from the control algorithm level, such as using PID control, o...

AI Technical Summary

Problems solved by technology

However, no matter which algorithm is used above, the controller performance indicators (such as overshoot, adjustment time, etc.) System performance indicators, this aspect requires rich experience in parameter setting, and also prolongs the development cycle

[0004] In addition, a large part of the existing trajectory tracking algorithms are coordinate transformations between the earth coordinate system and the vehicle coordinate system. Compared with the Frenet coordinate system, there are many formulas and a large amount of calculation.

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