CN110001637A - A kind of pilotless automobile path following control device and control method based on multiple spot tracking - Google Patents

A kind of pilotless automobile path following control device and control method based on multiple spot tracking Download PDF

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Publication number
CN110001637A
CN110001637A CN201910283871.1A CN201910283871A CN110001637A CN 110001637 A CN110001637 A CN 110001637A CN 201910283871 A CN201910283871 A CN 201910283871A CN 110001637 A CN110001637 A CN 110001637A
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aim
advance
path
vehicle
window
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CN110001637B (en
Inventor
金立生
司法
孙栋先
闫福刚
石健
华强
郭柏苍
朱菲婷
夏海鹏
王禹涵
郑义
高铭
陈梅
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems

Abstract

The present invention relates to a kind of pilotless automobile path following control device and control method based on multiple spot tracking, control device executes system by GPS data acquisition module, car speed acquisition module, data preprocessing module, computing module and line traffic control and forms.Control method, GPS location and posture information including acquiring and obtaining vehicle in real time acquire the GPS coordinate put on pursuit path path；Trace information is pre-processed, is smoothed pursuit path using the method for gaussian filtering；Determine that the pre- of track path reference point takes aim at window, interval is taken aim in advance, it takes aim at a little in advance, if calculating current vehicle coordinate points take aim at heading angle deviation and position deviation a little with the intervention selected, according to position deviation and heading angle deviation, calculate each it is pre- take aim at the corresponding front wheel angle of coordinate points, determine that each pre- takes aim at the corresponding front wheel angle of coordinate points according to road condition information and car status information, each front wheel angle sums up output according to equal weight, achievees the purpose that path trace.

Description

A kind of pilotless automobile path following control device and control based on multiple spot tracking Method
Technical field
The present invention relates to a kind of pilotless automobile path following control device and control method, in particular to one kind is based on The pilotless automobile path following control device and control method of multiple spot tracking.
Background technique
Path trace is that Execution plan decision-making level instructs an essential link, path trace in pilotless automobile The quality of ability directly affects pilotless automobile driving safety.For path following method, the selection of track reference point Quality whether have a great impact for path trace ability, will affect path trace precision, or even influence unmanned The safety of automobile.
The difference of Single-point preview method, the multipoint preview path following method of dynamic adjustment are used with traditional path trace The pre- position taken aim at a little of adjustment can not only be changed according to vehicle-state, pre- take aim at a little can also be adjusted according to vehicle operating information Number and each pre- corresponding output weight taken aim at a little.With the gradually development of unmanned technology, for the path of multipoint preview Follow-up study is also gradually goed deep into, and so as to improve path trace precision, improves the comfortableness and security of automatic driving vehicle.
Chinese patent CN201810409217.6 discloses a kind of industrial robot path trace based on pure tracing model Method uses the angular deviation of all the points in target point set and the average value of position deviation, essence according to the method for pure tracking Upper or Single-point preview, does not adjust the position of target point set dynamically according to vehicle running state and road parameters, it is likely that Ideal tracking accuracy is not achieved.
Chinese patent CN201711183868.X discloses a kind of unmanned vehicle path trace feed forward control method, carries out path In the control method of tracking, road curvature is added in conventional truck path following system model as exogenous disturbances item.In addition, In the patent, is only gone to zero using lateral position deviation and devise a kind of feed forward control method as objective function.It does not account for Tracking error caused by heading angle deviation, this will make vehicle vehicle " drawing dragon " phenomenon under certain road conditions.
Chinese patent CN200910160909.2 discloses a kind of intelligent vehicle path trace front wheel angle compensation controlling party Method has used improved Pure Pursuit algorithm, and forward sight distance is fuzzy by longitudinal speed in its path following control device Controller and path curvatures information online adaptive obtain, and are substantially Single-point previews, consideration vehicle driving that can not be comprehensive Joint effect while the far point track and near point track taken aim in advance in the process are for path trace.
Summary of the invention
The object of the invention is that in view of the above shortcomings of the prior art, a kind of nobody based on multiple spot tracking is provided and is driven Automobile path follow-up control apparatus and control method are sailed, from the angle for improving path trace precision, using dynamic adjustment Multipoint preview method improves the path trace precision and safety of vehicle.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of pilotless automobile path following control device based on multiple spot tracking, by GPS data acquisition module 1, vehicle Speed acquisition module 2, data preprocessing module 3, computing module 4 and line traffic control execute system 5 and form.The GPS data acquisition Module 1 and car speed acquisition module 2 execute system 5 with line traffic control through data preprocessing module 3, computing module 4 respectively and are connected.
The GPS data acquisition module 1 and car speed acquisition module 2 are that data preprocessing module 3 provides initial data, The information handled well is passed to computing module 4 by the data preprocessing module 3, and the output of the computing module and line traffic control execute System 5 is connected.
The GPS data acquisition module 1 and car speed acquisition module 2 acquire data and are with the period for obtaining data T1, the signal output period of computing module 4 is T2；The acquisition in real time of GPS data acquisition module 1 and position and the posture for obtaining vehicle Information, and the GPS coordinate point needed on track path is acquired, speed data collection module 2 acquires vehicle speed information.
The data preprocessing module 3 by track path on coordinate points pre-process, by the GPS pre-processed sit Mark reference point of the path point as path trace.
Window is taken aim in the selection that the computing module 4 calculates track path reference point in advance, i.e., takes aim at maximum distance in advance and take aim at most in advance Closely；Determination takes aim at interval in advance, takes aim at a little if filtering selection is intervened；If calculating the intervention that current vehicle coordinate points have been selected to take aim at a little Heading angle deviation and position deviation；It calculates each and pre- takes aim at the corresponding front wheel angle of coordinate points；According to road condition information Each pre- weight for taking aim at the corresponding front wheel angle of coordinate points is determined with car status information, and last each front wheel angle is according to it Preceding weight sums up output.
A kind of pilotless automobile path tracking control method based on multiple spot tracking, which is characterized in that including following step It is rapid:
A, position and the posture information of the acquisition in real time of GPS data acquisition module 1 and acquisition vehicle, and acquisition needs track path On GPS coordinate point, car speed acquisition module 2 according to vehicle CAN line acquire vehicle speed information；
B, data preprocessing module 3 pre-processes the coordinate points on track path that step A is acquired, will pre-process Reference point of the GPS coordinate path point as path trace；
C, computing module 4 determines that window is taken aim in the selection of track path reference point in advance according to step B, i.e., take aim in advance maximum distance and Minimum distance is taken aim in advance；
D, computing module 4 according to step C determine it is pre- take aim at window, determination takes aim at interval in advance, if filtering selects intervention to take aim at a little；
E, computing module 4 is taken aim at a little according to pre- the taking aim at a little of step D determination if calculating the intervention that current vehicle coordinate points have been selected Heading angle deviation and position deviation；
F, the pre- position deviation and course angle for taking aim at coordinate points and current vehicle coordinate that computing module 4 is obtained according to step E Deviation calculates each and pre- takes aim at the corresponding front wheel angle of coordinate points；
G, computing module 4 according to road condition information and car status information determines each pre- to take aim at coordinate points corresponding The weight of front wheel angle, last each front wheel angle sum up output according to weight before.
Further, data prediction is carried out to the coordinate points in reference path in the step B comprising the steps of:
B1, the GPS latitude and longitude coordinates information that GPS data acquisition module 1 acquires is converted to rectangular co-ordinate, when conversion is ignored Factor in height above sea level, it is assumed that the GPS coordinate point of data acquisition process unit acquisition is in same level height, selection reference First point on path is rectangular co-ordinate origin, obtains the track path trajectory coordinates under rectangular coordinate system；
B2, the method for the point gaussian filtering on the obtained track path of conversion is filtered into the burr point on path；
Further, the pre- window of taking aim at of the selection of the step C track path reference point determines, comprising the following steps:
C1, the upper bound determination of distance for taking aim at window in advance are calculated as follows:
Wherein, k1For the speed coefficient for taking aim at the window upper bound in advance, vcarFor the actual speed of vehicle, k2To take aim at the window upper bound in advance Coefficient of angularity, θ are the angle of vehicle longitudinal axis with vehicle rear axle center line midpoint and the line for taking aim at window upper bound reference point in advance, with Vehicle longitudinal axis is that reference line rotates in a counter-clockwise direction to vehicle rear axle center line midpoint and take aim in advance window upper bound reference point Line to angle be positive, k3For the minimum preview distance for taking aim at the window upper bound in advance；
C2, it takes aim at lower window edge determination of distance in advance and is calculated as follows:
Llow=i1×vcar+i2×|sinθ|2+i3,
Wherein, i1For the speed coefficient for taking aim at window lower bound in advance, vcarValue speed for the actual speed of vehicle, when calculating Numerical value, i2For the coefficient of angularity for taking aim at the window upper bound in advance, θ is vehicle longitudinal axis and vehicle rear axle center line midpoint and takes aim on window in advance The angle of the line of boundary's reference point is rotated in a counter-clockwise direction by reference line of vehicle longitudinal axis to vehicle rear axle center line midpoint Take aim in advance the line of window upper bound reference point to angle be positive, i3For the minimum preview distance for taking aim at the window upper bound in advance；
Further, the step D takes aim at the determination and the pre- determination taken aim at a little at interval in advance comprising the steps of:
D1, take aim at a little in advance between the determination at interval be calculated as follows:
Wherein, l is the adjacent pre- interval taken aim between a little, LupFor the upper bound distance for taking aim at window in advance, LlowTo take aim under window in advance Boundary's distance, a are to take aim at interval coefficient in advance, and R is the maximum curvature radius for taking aim at the camber line in window in advance；
D2, the determination taken aim in advance in window a little is taken aim in advance, determined according to the methods below:
If l >=(Lup-Llow), then only take Lup, LlowTwo preview distances it is corresponding it is pre- take aim at a little, specifically determine method For using vehicle rear axle midpoint as origin, with Lup, LlowIt draws and justifies for radius, take and reference path in the intersection point of vehicle front is in advance to take aim at Point；
If l < (Lup-Llow), then each pre- a little corresponding preview distance of taking aim at is Llow, Llow+l,Llow+2×l,…, Lup, being equally with rear shaft center's point of vehicle is the center of circle, with Llow, Llow+l,Llow+2×l,…,LupFor radius draw justify, take with Reference path is to take aim at a little in advance in the intersection point of vehicle front；
Further, the step F is according to the obtained pre- position deviation for taking aim at coordinate points and current vehicle coordinate and course Angular displacement, calculate each it is pre- take aim at the corresponding front wheel angle of coordinate points, calculation formula is as follows:
In formula, δ ' is front wheel angle, and the distance between L automobile front-axle and rear axle, α is navigation angular displacement, LdFor take aim in advance away from From kk is lateral deviation coefficient, derrFor lateral position deviation；
Further, the step G determines that each pre- takes aim at coordinate points according to road condition information and car status information The weight of corresponding front wheel angle, last each front wheel angle sum up output according to equal weight, and calculation formula is as follows:
In formula, δ is output front wheel angle, δi' it is each pre- front wheel angle for taking aim at a little corresponding output, n is to take aim at a little in advance Number.
Compared with prior art, the beneficial effects of the present invention are: the present invention according to the operating status and road ring of vehicle The information dynamic in border adjusts the bound for taking aim at window in advance, and dynamic has adjusted pre- take aim at and takes aim at interval in window in advance, makes pre- take aim at a little really It is fixed more reasonable, there is biggish adaptability to different driving status and different road conditions.The present invention further also uses course The collective effect of deviation and position deviation keeps the information considered when the calculating of front wheel angle more comprehensive, pre- takes aim at finally by each Press the steering wheel angle that equal weight has calculated final output.
Detailed description of the invention
Fig. 1 is the pilotless automobile path tracking control method flow diagram tracked based on multiple spot；
Fig. 2 is the pilotless automobile path following control schematic device tracked based on multiple spot；
Fig. 3 is heading angle deviation and lateral position deviation schematic diagram.
In figure, 2. car speed acquisition module of 1.GPS data acquisition module, 3. data preprocessing module, 4. computing module 5. Line traffic control executes system.
Specific embodiment
Below with reference to embodiment, the invention will be further described, it should be understood that these embodiments be merely to illustrate the present invention and It is not used in and limits the scope of the invention, after the present invention has been read, those skilled in the art are to various equal similar shapes of the invention The modification of formula is fallen in the application range as defined in the appended claims.
As depicted in figs. 1 and 2, the pilotless automobile path following control device based on multiple spot tracking, is adopted by GPS data Collect module 1, car speed acquisition module 2, data preprocessing module 3, computing module 4 and line traffic control and executes the composition of system 5.It is described GPS data acquisition module 1 and car speed acquisition module 2 are that data preprocessing module 3 provides initial data, and the data are located in advance The information handled well is passed to computing module 4 by reason module 3, and the output of the computing module executes system 5 with line traffic control and is connected.Knot Fig. 3 is closed, a is that one taken aim in window in advance takes aim at a little in advance, and b is pretreated desired reference track, and c is in vehicle rear axle center line Point with take aim at lateral deviation a little in advance, d is vehicle, and e is vehicle longitudinal axis and vehicle rear axle center line midpoint and pre- take aim at the window upper bound The angle of the line of reference point, rotated in a counter-clockwise direction as reference line to vehicle rear axle center line midpoint using vehicle longitudinal axis and In advance take aim at window upper bound reference point line to angle be positive.
It is T that GPS data acquisition module 1 and car speed acquisition module 2, which acquire data and the period of acquisition data,1, this It is taken in embodiment 0.002 second, the signal output period of computing module 4 is T2, take 0.005 second in this example.
The acquisition in real time of GPS data acquisition module 1 and position and the posture information for obtaining vehicle, and acquisition needs on track path GPS coordinate point, speed data collection module 2 acquire vehicle speed information；
Data preprocessing module 3 by track path on coordinate points pre-process, the GPS coordinate road that will have been pre-processed Reference point of the diameter point as path trace；
Window is taken aim in the selection that computing module 4 calculates track path reference point in advance, i.e., takes aim at maximum distance in advance and take aim at most low coverage in advance From；
The determination of computing module 4 takes aim at interval in advance, takes aim at a little if filtering selection is intervened；
If heading angle deviation and position deviation a little are taken aim in the intervention that the calculating of computing module 4 current vehicle coordinate points have been selected；
Computing module 4 calculates each and pre- takes aim at the corresponding front wheel angle of coordinate points；
Computing module 4 according to road condition information and car status information determine each it is pre- take aim at coordinate points it is corresponding before The weight of corner is taken turns, last each front wheel angle sums up output according to weight before；
When data preprocessing module 3 calculates comprising the steps of:
The first step converts the GPS latitude and longitude coordinates information that GPS data acquisition module 1 acquires to rectangular co-ordinate, when conversion Ignore the factor in height above sea level, it is assumed that the GPS coordinate point of data acquisition process unit acquisition is in same level height, selection First point in reference path is rectangular co-ordinate origin, obtains the track path trajectory coordinates under rectangular coordinate system；
The method of point gaussian filtering on the obtained track path of conversion is filtered the burr point on path by second step；
The pre- of selection that computing module 4 calculates track path reference point takes aim at window, comprising the following steps:
The first step, the upper bound determination of distance for taking aim at window in advance are calculated as follows:
Wherein, k1For the speed coefficient for taking aim at the window upper bound in advance, value range is to take 3, v in this example of 0.1-3carFor vehicle Actual speed, the speed values that value when this example calculation is unit when being m/s, k2For the angle system for taking aim at the window upper bound in advance Number, value range 0-20, this example take 10, θ to be vehicle longitudinal axis and vehicle rear axle center line midpoint and take aim at the window upper bound in advance The angle of the line of reference point, rotated in a counter-clockwise direction as reference line to vehicle rear axle center line midpoint using vehicle longitudinal axis and In advance take aim at window upper bound reference point line to angle be positive, k3For the minimum preview distance for taking aim at the window upper bound in advance, value is 5-10 takes 8 in this example；
Second step is taken aim at lower window edge determination of distance and is calculated as follows in advance:
Llow=i1×vcar+i2×|sinθ|2+i3,
Wherein, i1For the speed coefficient for taking aim at window lower bound in advance, value range 0.1-3 takes 1, v in this examplecarFor vehicle Actual speed, value speed values when calculating, i2For the coefficient of angularity for taking aim at the window upper bound in advance, value range 0-20, sheet In example, value 10, θ is vehicle longitudinal axis and vehicle rear axle center line midpoint and the line for taking aim at window upper bound reference point in advance Angle is rotated in a counter-clockwise direction to vehicle rear axle center line midpoint as reference line using vehicle longitudinal axis and takes aim at the window upper bound in advance and joined The line of examination point to angle be positive, i3For the minimum preview distance for taking aim at the window upper bound in advance, value 5-10 is taken in this example 5；
Computing module 4 calculates the pre- determination for taking aim at interval and takes aim in advance a little comprising the steps of:
Step 1: the determination at the interval between taking aim at a little in advance is calculated as follows:
Wherein, l is the adjacent pre- interval taken aim between a little, LupFor the upper bound distance for taking aim at window in advance, LlowTo take aim under window in advance Boundary's distance, a are to take aim at that 1, R is taken in this example of interval coefficient is the maximum curvature radius for taking aim at the camber line in window in advance in advance；
Step 2: taking aim at the determination taken aim in advance in window a little in advance, determine according to the methods below:
If l >=(Lup-Llow), then only take Lup, LlowTwo preview distances it is corresponding it is pre- take aim at a little, specifically determine method For using vehicle rear axle midpoint as origin, with Lup, LlowIt draws and justifies for radius, take and reference path in the intersection point of vehicle front is in advance to take aim at Point；
If l < (Lup-Llow), then each pre- a little corresponding preview distance of taking aim at is Llow, Llow+l,Llow+2×l,…, Lup, being equally with rear shaft center's point of vehicle is the center of circle, with Llow, Llow+l,Llow+2×l,…,LupFor radius draw justify, take with Reference path is to take aim at a little in advance in the intersection point of vehicle front；
Computing module 4 calculate each it is pre- take aim at the corresponding front wheel angle of coordinate points, calculation formula is as follows:
In formula, δ ' is front wheel angle, and the distance between L automobile front-axle and rear axle, α is navigation angular displacement, LdFor take aim in advance away from From kk is lateral deviation coefficient, this example value 0.05, derrFor lateral position deviation；
Computing module 4 according to road condition information and car status information determine each it is pre- take aim at coordinate points it is corresponding before The weight of corner is taken turns, last each front wheel angle sums up output according to equal weight, and calculation formula is as follows:
In formula, δ is output front wheel angle, δi' it is each pre- front wheel angle for taking aim at a little corresponding output, n is to take aim at a little in advance Number.
Present embodiments provide a kind of pilotless automobile path tracking control method based on multiple spot tracking.According to this reality The control method of example is applied, can be tracked for the path of different curvature, is pacified so as to improve the steering of automatic driving vehicle Full property and path trace precision.

Claims (8)

1. a kind of pilotless automobile path following control device based on multiple spot tracking, it is characterised in that: acquired by GPS data Module (1), car speed acquisition module (2), data preprocessing module (3), computing module (4) and line traffic control execute system (5) group At；The GPS data acquisition module (1) and car speed acquisition module (2) are respectively through data preprocessing module (3), calculating mould Block (4) executes system (5) with line traffic control and is connected；
The GPS data acquisition module (1) needs to track for acquiring and obtaining position and the posture information of vehicle in real time, and acquire GPS coordinate point on path；The car speed acquisition module (2) is for acquiring vehicle speed information；The data preprocessing module (3) for the information handled well to be passed to computing module (4)；The computing module (4) is for calculating track path reference point Selection take aim at window in advance；Determination takes aim at interval in advance, takes aim at a little if filtering selection is intervened；Calculating current vehicle coordinate points have been selected several Heading angle deviation and position deviation a little is taken aim in advance；It calculates each and pre- takes aim at the corresponding front wheel angle of coordinate points；According to road Condition information and car status information determine each pre- weight for taking aim at the corresponding front wheel angle of coordinate points；The computing module (4) output executes system (5) with line traffic control and is connected.
2. a kind of pilotless automobile path following control device based on multiple spot tracking according to claim 1, special Sign is: the GPS data acquisition module (1), and car speed acquisition module (2) acquires data and is with the period for obtaining data 0.002 second, the signal output period of computing module (4) was 0.005 second.
3. a kind of control of pilotless automobile path following control device based on multiple spot tracking according to claim 1 Method, which comprises the following steps:
A, position and the posture information of GPS data acquisition module (1) acquisition in real time and acquisition vehicle, and acquisition needs on track path GPS coordinate point, car speed acquisition module (2) according to vehicle CAN line acquire vehicle speed information；
B, data preprocessing module (3) pre-processes the coordinate points on track path that step A is acquired, by what is pre-processed Reference point of the GPS coordinate path point as path trace；
C, computing module (4) determines that window is taken aim in the selection of track path reference point in advance according to step B, i.e., takes aim at maximum distance and pre- in advance Take aim at minimum distance；
D, computing module (4) according to step C determine it is pre- take aim at window, determination takes aim at interval in advance, if filtering selects intervention to take aim at a little；
E, computing module (4) is taken aim at a little according to pre- the taking aim at a little of step D determination if calculating the intervention that current vehicle coordinate points have been selected Heading angle deviation and position deviation；
F, computing module (4) is inclined according to the obtained pre- position deviation for taking aim at coordinate points and current vehicle coordinate of step E and course angle Difference calculates each and pre- takes aim at the corresponding front wheel angle of coordinate points；
G, computing module (4) according to road condition information and car status information determine each it is pre- take aim at coordinate points it is corresponding before The weight of corner is taken turns, last each front wheel angle sums up output according to weight before.
4. a kind of control of pilotless automobile path following control device based on multiple spot tracking according to claim 3 Method, which is characterized in that data prediction is carried out to the coordinate points in reference path in the step B comprising the steps of:
B1, rectangular co-ordinate is converted by the GPS latitude and longitude coordinates information that GPS data acquisition module (1) acquires, when conversion ignores sea Factor on degree of lifting, it is assumed that the GPS coordinate point of data acquisition process unit acquisition selects reference arm in same level height First point on diameter is rectangular co-ordinate origin, obtains the track path trajectory coordinates under rectangular coordinate system；
B2, the method for the point gaussian filtering on the obtained track path of conversion is filtered into the burr point on path.
5. a kind of control of pilotless automobile path following control device based on multiple spot tracking according to claim 3 Method, which is characterized in that the pre- window of taking aim at of the selection of track path reference point determines in the step C, comprising the following steps:
C1, the upper bound determination of distance for taking aim at window in advance are calculated as follows:
Wherein, k1For the speed coefficient for taking aim at the window upper bound in advance, vcarFor the actual speed of vehicle, k2For the angle for taking aim at the window upper bound in advance Coefficient, θ is the angle of vehicle longitudinal axis with vehicle rear axle center line midpoint and the line for taking aim at window upper bound reference point in advance, with vehicle Longitudinal axis is that reference line rotates in a counter-clockwise direction to vehicle rear axle center line midpoint and take aim in advance the line of window upper bound reference point To angle be positive, k3For the minimum preview distance for taking aim at the window upper bound in advance；
C2, it takes aim at lower window edge determination of distance in advance and is calculated as follows:
Llow=i1×vcar+i2×|sinθ|2+i3,
Wherein, i1For the speed coefficient for taking aim at window lower bound in advance, vcarFor the actual speed of vehicle, value speed values when calculating, i2For the coefficient of angularity for taking aim at the window upper bound in advance, θ is vehicle longitudinal axis and vehicle rear axle center line midpoint and takes aim at window upper bound ginseng in advance The angle of the line of examination point is rotated in a counter-clockwise direction by reference line of vehicle longitudinal axis to vehicle rear axle center line midpoint and pre- Take aim at the line of window upper bound reference point to angle be positive, i3For the minimum preview distance for taking aim at the window upper bound in advance.
6. a kind of control of pilotless automobile path following control device based on multiple spot tracking according to claim 3 Method, which is characterized in that take aim at the determination and the pre- determination taken aim at a little at interval in the step D in advance comprising the steps of:
D1, take aim at a little in advance between the determination at interval be calculated as follows:
Wherein, l is the adjacent pre- interval taken aim between a little, LupFor the upper bound distance for taking aim at window in advance, LlowFor take aim in advance lower window edge away from From a is to take aim at interval coefficient in advance, and R is the maximum curvature radius for taking aim at the camber line in window in advance；
D2, the determination taken aim in advance in window a little is taken aim in advance, determined according to the methods below:
If l >=(Lup-Llow), then only take Lup, LlowTwo preview distances it is corresponding it is pre- take aim at a little, it is specific to determine that method is, with Vehicle rear axle midpoint is origin, with Lup, LlowIt draws and justifies for radius, take and reference path in the intersection point of vehicle front is in advance to take aim at a little；
If l < (Lup-Llow), then each pre- a little corresponding preview distance of taking aim at is Llow, Llow+l,Llow+2×l,…,Lup, equally Being with rear shaft center's point of vehicle is the center of circle, with Llow, Llow+l,Llow+2×l,…,LupIt draws and justifies for radius, take and reference path It is to take aim at a little in advance in the intersection point of vehicle front.
7. a kind of control of pilotless automobile path following control device based on multiple spot tracking according to claim 3 Method, which is characterized in that according to the obtained pre- position deviation for taking aim at coordinate points and current vehicle coordinate and course in the step F Angular displacement, calculate each it is pre- take aim at the corresponding front wheel angle of coordinate points, calculation formula is as follows:
In formula, δ ' is front wheel angle, and the distance between L automobile front-axle and rear axle, α is navigation angular displacement, LdFor preview distance, kk For lateral deviation coefficient, derrFor lateral position deviation.
8. a kind of control of pilotless automobile path following control device based on multiple spot tracking according to claim 3 Method, which is characterized in that determine that each pre- takes aim at coordinate points according to road condition information and car status information in the step G The weight of corresponding front wheel angle, last each front wheel angle sum up output according to equal weight, and calculation formula is as follows:
In formula, δ is output front wheel angle, δi' it is each pre- front wheel angle for taking aim at a little corresponding output, n is to take aim at a number in advance.
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