CN110001637B - Unmanned vehicle path tracking control device and control method based on multipoint tracking - Google Patents
Unmanned vehicle path tracking control device and control method based on multipoint tracking Download PDFInfo
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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
- B60W30/10—Path keeping
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- 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
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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Abstract
The application relates to an unmanned automobile path tracking control device and method based on multipoint tracking. The control method comprises the steps of acquiring and acquiring GPS position and attitude information of a vehicle in real time, and acquiring GPS coordinates of points on a tracking track path; preprocessing track information, and smoothing a tracking track by using a Gaussian filtering method; determining a pre-aiming window, a pre-aiming interval and a pre-aiming point of a tracking path reference point, calculating the course angle deviation and the position deviation of a current vehicle coordinate point and a selected target point if intervention, calculating the front wheel corner corresponding to each pre-aiming coordinate point according to the position deviation and the course angle deviation, determining the front wheel corner corresponding to each pre-aiming coordinate point according to road condition information and vehicle state information, and adding and outputting the front wheel corners according to equal weight to achieve the purpose of path tracking.
Description
Technical Field
The application relates to an unmanned automobile path tracking control device and a control method, in particular to an unmanned automobile path tracking control device and a control method based on multipoint tracking.
Background
The path tracking is an essential link for executing the instruction of the planning decision layer in the unmanned automobile, and the quality of the path tracking capability directly influences the running safety of the unmanned automobile. For the path tracking method, whether the selection of the tracking reference point is good or bad has a great influence on the path tracking capability, which affects the path tracking precision and even the safety of the unmanned automobile.
Unlike the traditional path tracking method with single-point pre-aiming, the dynamically adjusted multi-point pre-aiming path tracking method not only can adjust the positions of pre-aiming points according to the state change of the vehicle, but also can adjust the number of the pre-aiming points and the corresponding output weights of all the pre-aiming points according to the running information of the vehicle. Along with the gradual development of unmanned technology, path tracking research aiming at multipoint pre-aiming is also gradually in depth, so that the path tracking precision is improved, and the comfort and safety of the unmanned vehicle are improved.
Chinese patent CN201810409217.6 discloses a pure tracking model-based industrial robot path tracking method, according to which an average value of angle deviation and position deviation of all points in a target point set is used, which is essentially single-point pre-aiming, and the position of the target point set is not dynamically adjusted according to the running state of the vehicle and road parameters, so that ideal tracking accuracy is likely to be not achieved.
The Chinese patent CN201711183868.X discloses a feed-forward control method for unmanned vehicle path tracking, wherein in the control method for path tracking, the road curvature is added into a traditional vehicle path tracking system model as an interference input item. In addition, in this patent, a feedforward control method is designed with only the lateral position deviation tending to zero as an objective function. Tracking errors due to course angle deviations are not taken into account, which would lead to the phenomenon of "picture dragon" of the vehicle under certain road conditions.
Chinese patent CN200910160909.2 discloses a method for controlling the steering angle compensation of the intelligent vehicle path tracking front wheel, which uses an improved Pure burst algorithm, and in its path tracking controller, the forward looking distance is obtained by online self-adaption of the longitudinal vehicle speed fuzzy controller and the path curvature information, which is essentially single-point pre-aiming, and the simultaneous co-influence of the far-point track and the near-point track of the pre-aiming on the path tracking in the vehicle running process cannot be comprehensively considered.
Disclosure of Invention
The application aims to overcome the defects of the prior art, and provides an unmanned automobile path tracking control device and a control method based on multipoint tracking, which are used for improving the path tracking precision and the safety of a vehicle by adopting a dynamically-adjusted multipoint pre-aiming method from the viewpoint of improving the path tracking precision.
The application aims at realizing the following technical scheme:
the unmanned automobile path tracking control device based on multipoint tracking consists of a GPS data acquisition module 1, a vehicle speed acquisition module 2, a data preprocessing module 3, a calculation module 4 and a drive-by-wire execution system 5. The GPS data acquisition module 1 and the vehicle speed acquisition module 2 are respectively connected with the drive-by-wire execution system 5 through the data preprocessing module 3 and the calculation module 4.
The GPS data acquisition module 1 and the vehicle speed acquisition module 2 provide raw data for the data preprocessing module 3, the data preprocessing module 3 transmits processed information to the calculation module 4, and the output of the calculation module is connected with the drive-by-wire execution system 5.
The period of the GPS data acquisition module 1 and the vehicle speed acquisition module 2 for acquiring data and acquiring data is T 1 The signal output period of the calculation module 4 is T 2 ；GThe PS data acquisition module 1 acquires and acquires the position and posture information of the vehicle in real time, and acquires GPS coordinate points on a path to be tracked, and the vehicle speed acquisition module 2 acquires the vehicle speed information.
And the data preprocessing module 3 preprocesses coordinate points on the tracking path, and takes the preprocessed GPS coordinate path points as reference points for path tracking.
The calculation module 4 calculates a selected pretightening window of the tracking path reference point, namely, the pretightening furthest distance and the pretightening closest distance; determining a pre-aiming interval, and filtering and selecting an interference aiming point; calculating the course angle deviation and the position deviation of the selected target point if the current vehicle coordinate point is selected; calculating a front wheel corner corresponding to each pre-aiming coordinate point; and determining the weight of the front wheel corner corresponding to each pre-aiming coordinate point according to the road condition information and the vehicle state information, and finally adding and outputting the front wheel corners according to the previous weight.
The unmanned vehicle path tracking control method based on multipoint tracking is characterized by comprising the following steps of:
A. the GPS data acquisition module 1 acquires and acquires the position and posture information of the vehicle in real time, acquires GPS coordinate points on a path to be tracked, and the vehicle speed acquisition module 2 acquires the vehicle speed information according to a vehicle CAN line;
B. the data preprocessing module 3 preprocesses coordinate points on the tracking path acquired in the step A, and takes the preprocessed GPS coordinate path points as reference points for path tracking;
C. b, the calculation module 4 determines a selection pre-aiming window of the tracking path reference point according to the step B, namely, the furthest pre-aiming distance and the closest pre-aiming distance;
D. c, determining a pre-aiming interval according to the pre-aiming window determined in the step C, and filtering and selecting an interference aiming point;
E. the calculating module 4 calculates the course angle deviation and the position deviation of the interference aiming point selected by the current vehicle coordinate point according to the pre-aiming point determined in the step D;
F. the calculation module 4 calculates a front wheel corner corresponding to each pre-aiming coordinate point according to the position deviation and the course angle deviation of the pre-aiming coordinate point and the current vehicle coordinate obtained in the step E;
G. the calculation module 4 determines the weight of the front wheel corner corresponding to each pre-aiming coordinate point according to the road condition information and the vehicle state information, and finally, the front wheel corners are added and output according to the previous weight.
Further, the step B of preprocessing data of the coordinate point on the reference path includes the following steps:
b1, converting GPS longitude and latitude coordinate information acquired by a GPS data acquisition module 1 into rectangular coordinates, ignoring factors on altitude during conversion, and assuming that GPS coordinate points acquired by a data acquisition processing unit are on the same horizontal height, selecting a first point on a reference path as a rectangular coordinate origin to obtain tracking path track coordinates under a rectangular coordinate system;
b2, filtering burr points on the path by using a Gaussian filtering method from points on the converted tracking path;
further, the step C of determining the selected pre-aiming window of the tracking path reference point includes the following steps:
c1, determining the upper bound distance of the pre-aiming window according to the following formula:
wherein k is 1 For the speed coefficient of the upper boundary of the pre-aiming window, v car K is the actual speed of the vehicle 2 For the angle coefficient of the upper boundary of the pre-aiming window, θ is the included angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, the angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, which is rotated in the anticlockwise direction by taking the longitudinal axis of the vehicle as the reference line, is positive, k 3 The minimum pretightening distance is the upper boundary of the pretightening window;
and C2, determining the lower bound distance of the pre-aiming window according to the following formula:
L low ＝i 1 ×v car +i 2 ×|sinθ| 2 +i 3 ，
wherein i is 1 For the speed coefficient of the lower boundary of the pre-aiming window, v car Calculating the value of the speed, i, for the actual speed of the vehicle 2 For the angle coefficient of the upper boundary of the pre-aiming window, θ is the included angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, the angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, i, is positive, and the angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window is rotated in the anticlockwise direction by taking the longitudinal axis of the vehicle as the reference line 3 The minimum pretightening distance is the upper boundary of the pretightening window;
further, the step D of determining the pretightening interval and the pretightening point includes the following steps:
d1, determining the interval between the pretightening points according to the following formula:
wherein L is the interval between adjacent pretightening points, L up For the upper boundary distance of the pre-aiming window, L low A is the lower boundary distance of the pre-aiming window, a is the pre-aiming interval coefficient, and R is the maximum curvature radius of an arc line in the pre-aiming window;
d2, determining a pretightening point in a pretightening window according to the following method:
if L is not less than (L) up -L low ) Then take only L up ，L low The specific determination method of the pretightening points corresponding to the two pretightening distances comprises the steps of taking the midpoint of the rear axle of the vehicle as an origin and L up ，L low Drawing a circle for the radius, and taking the intersection point of the reference path and the front part of the vehicle as a pre-aiming point;
if L < (L) up -L low ) The pretightening distance corresponding to each pretightening point is L low ，L low +l,L low +2×l,…,L up Likewise, the center point of the rear axle of the vehicle is taken as the center of a circle, L is taken as low ，L low +l,L low +2×l,…,L up To draw a circle for radius, take and reference paths are inThe intersection point in front of the vehicle is a pre-aiming point;
further, the step F calculates a front wheel corner corresponding to each pre-aiming coordinate point according to the obtained position deviation and heading angle deviation of the pre-aiming coordinate point and the current vehicle coordinate, and the calculation formula is as follows:
wherein delta' is the front wheel rotation angle, L is the distance between the front axle and the rear axle of the vehicle, alpha is the navigation angle deviation, L d For the pretightening distance, kk is the lateral deviation coefficient, d err Is the lateral position deviation;
further, the step G determines the weight of the front wheel corner corresponding to each pre-aiming coordinate point according to the road condition information and the vehicle state information, and finally, the front wheel corners are added and output according to the equal weight, and the calculation formula is as follows:
wherein delta is the rotation angle of the output front wheel, delta i ' is the front wheel rotation angle of the output corresponding to each pretightening point, and n is the number of pretightening points.
Compared with the prior art, the application has the beneficial effects that: the application dynamically adjusts the upper limit and the lower limit of the pre-aiming window according to the running state of the vehicle and the information of the road environment, and dynamically adjusts the pre-aiming interval in the pre-aiming window, so that the determination of the pre-aiming point is more reasonable, and the application has larger adaptability to different running states and different road conditions. The application further uses the combined action of course deviation and position deviation to make the information considered in the calculation of the front wheel turning angle more comprehensive, and finally calculates the finally output steering wheel turning angle according to the equal weight through each pre-aiming point.
Drawings
FIG. 1 is a schematic flow diagram of a method for controlling path tracking of an unmanned vehicle based on multipoint tracking;
FIG. 2 is a schematic diagram of an unmanned vehicle path tracking control device based on multi-point tracking;
FIG. 3 is a schematic diagram of course angle deviation and lateral position deviation.
In the figure, a GPS data acquisition module 2, a vehicle speed acquisition module 3, a data preprocessing module 4, a calculation module 5 and a drive-by-wire execution system.
Detailed Description
The present application is further described below with reference to examples, which are to be construed as merely illustrative of the present application and not a limitation of the scope of the present application, since various modifications to the equivalent arrangements of the present application will become apparent to those skilled in the art upon reading the present application, which are intended to be within the scope of the appended claims.
As shown in fig. 1 and 2, the unmanned vehicle path tracking control device based on multipoint tracking is composed of a GPS data acquisition module 1, a vehicle speed acquisition module 2, a data preprocessing module 3, a calculation module 4 and a drive-by-wire execution system 5. The GPS data acquisition module 1 and the vehicle speed acquisition module 2 provide raw data for the data preprocessing module 3, the data preprocessing module 3 transmits processed information to the calculation module 4, and the output of the calculation module is connected with the drive-by-wire execution system 5. Referring to fig. 3, a is a pretightening point in a pretightening window, b is a preprocessed ideal reference track, c is a transverse deviation between a midpoint of a central line of a rear axle of a vehicle and the pretightening point, d is the vehicle, e is an included angle between a longitudinal axis of the vehicle and a connecting line between the midpoint of the central line of the rear axle of the vehicle and an upper boundary reference point of the pretightening window, and an angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pretightening window is positive when the longitudinal axis of the vehicle is taken as a reference line and rotated in a counterclockwise direction.
The period of data acquisition and data acquisition of the GPS data acquisition module 1 and the vehicle speed acquisition module 2 is T 1 In this embodiment, 0.002 seconds is taken, and the signal output period of the computing module 4 is T 2 In this example, 0.005 seconds is taken.
The GPS data acquisition module 1 acquires and acquires the position and posture information of the vehicle in real time, acquires GPS coordinate points on a path to be tracked, and the vehicle speed acquisition module 2 acquires the vehicle speed information;
the data preprocessing module 3 preprocesses coordinate points on the tracking path, and takes the preprocessed GPS coordinate path points as reference points for path tracking;
the calculation module 4 calculates a selection pre-aiming window of a tracking path reference point, namely a pre-aiming furthest distance and a pre-aiming nearest distance;
the calculation module 4 determines a pre-aiming interval, and filters and selects an intervention aiming point;
the calculation module 4 calculates the course angle deviation and the position deviation of the selected intervention aiming point of the current vehicle coordinate point;
the calculation module 4 calculates the front wheel corner corresponding to each pre-aiming coordinate point;
the calculation module 4 determines the weight of the front wheel corner corresponding to each pre-aiming coordinate point according to the road condition information and the vehicle state information, and finally, the front wheel corners are added and output according to the previous weight;
the data preprocessing module 3 comprises the following steps:
the method comprises the steps of firstly, converting GPS longitude and latitude coordinate information acquired by a GPS data acquisition module 1 into rectangular coordinates, neglecting factors on altitude during conversion, and assuming that GPS coordinate points acquired by a data acquisition processing unit are on the same horizontal level, selecting a first point on a reference path as a rectangular coordinate origin to obtain tracking path track coordinates under a rectangular coordinate system;
secondly, filtering burr points on the path by using a Gaussian filtering method from points on the converted tracking path;
the calculation module 4 calculates a selected pre-aiming window of the tracking path reference point, comprising the following steps:
the first step, the determination of the upper bound distance of the pre-aiming window is calculated according to the following formula:
wherein k is 1 For the speed coefficient of the upper boundary of the pre-aiming window, the value range is 0.1-33，v car For the actual speed of the vehicle, the value calculated in this example is the speed value in m/s, k 2 For the angle coefficient of the upper boundary of the pre-aiming window, the value range is 0-20, the example takes 10, theta is the included angle between the longitudinal axis of the vehicle and the connecting line of the central line midpoint of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, the angle between the longitudinal axis of the vehicle and the connecting line of the central line midpoint of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, which is rotated in the anticlockwise direction by taking the longitudinal axis of the vehicle as the reference line, is positive, and k 3 The minimum pretightening distance of the upper boundary of the pretightening window is 5-10, and 8 is taken in the example;
the second step, the determination of the lower bound distance of the pre-aiming window is calculated according to the following formula:
L low ＝i 1 ×v car +i 2 ×|sinθ| 2 +i 3 ，
wherein i is 1 For the vehicle speed coefficient of the lower boundary of the pre-aiming window, the value range is 0.1-3, 1, v in the example car Calculating the value of the speed, i, for the actual speed of the vehicle 2 The angle coefficient of the upper boundary of the pre-aiming window is 0-20, in the example, the value is 10, θ is the included angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, the angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window is positive, i 3 The minimum pretightening distance of the upper boundary of the pretightening window is 5-10, and in the example, 5 is taken;
the calculating module 4 calculates the determination of the pretightening interval and the pretightening point, and comprises the following steps:
step one, determining the interval between pre-aiming points according to the following formula:
wherein L is the interval between adjacent pretightening points, L up For the upper boundary distance of the pre-aiming window, L low For the lower bound distance of the pretightening window, a is the pretightening interval coefficient, taken in this example1, R is the maximum radius of curvature of an arc in the pre-aiming window;
step two, determining a pretightening point in a pretightening window according to the following method:
if L is not less than (L) up -L low ) Then take only L up ，L low The specific determination method of the pretightening points corresponding to the two pretightening distances comprises the steps of taking the midpoint of the rear axle of the vehicle as an origin and L up ，L low Drawing a circle for the radius, and taking the intersection point of the reference path and the front part of the vehicle as a pre-aiming point;
if L < (L) up -L low ) The pretightening distance corresponding to each pretightening point is L low ，L low +l,L low +2×l,…,L up Likewise, the center point of the rear axle of the vehicle is taken as the center of a circle, L is taken as low ，L low +l,L low +2×l,…,L up Drawing a circle for the radius, and taking the intersection point of the reference path and the front part of the vehicle as a pre-aiming point;
the calculation module 4 calculates the front wheel rotation angle corresponding to each pre-aiming coordinate point, and the calculation formula is as follows:
wherein delta' is the front wheel rotation angle, L is the distance between the front axle and the rear axle of the vehicle, alpha is the navigation angle deviation, L d For the pretightening distance, kk is the coefficient of lateral deviation, the value of this example is 0.05, d err Is the lateral position deviation;
the calculation module 4 determines the weight of the front wheel corner corresponding to each pre-aiming coordinate point according to the road condition information and the vehicle state information, and finally, the front wheel corners are added and output according to the equal weight, and the calculation formula is as follows:
wherein delta is the rotation angle of the output front wheel, delta i ' front wheel rotation angle corresponding to each pre-aiming point and n isThe number of pre-aiming points.
The embodiment provides an unmanned vehicle path tracking control method based on multipoint tracking. According to the control method of the embodiment, the paths with different curvatures can be tracked, so that the steering safety and the path tracking precision of the unmanned vehicle are improved.
Claims (7)
1. The unmanned vehicle path tracking control method based on multipoint tracking is characterized by comprising the following steps of:
A. the GPS data acquisition module (1) acquires and acquires the position and posture information of the vehicle in real time, acquires GPS coordinate points on a path to be tracked, and the vehicle speed acquisition module (2) acquires the vehicle speed information according to a vehicle CAN line;
B. the data preprocessing module (3) preprocesses coordinate points on the tracking path acquired in the step A, and takes the preprocessed GPS coordinate path points as reference points for path tracking;
C. b, determining a selected pretightening window of the tracking path reference point by a calculation module (4), namely a pretightening furthest distance and a pretightening nearest distance;
the pre-aiming window determination comprises the following steps:
c1, determining the upper bound distance of the pre-aiming window according to the following formula:
wherein k is 1 For the speed coefficient of the upper boundary of the pre-aiming window, v car K is the actual speed of the vehicle 2 For the angle coefficient of the upper boundary of the pre-aiming window, θ is the included angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, the angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, which is rotated in the anticlockwise direction by taking the longitudinal axis of the vehicle as the reference line, is positive, k 3 The minimum pretightening distance is the upper boundary of the pretightening window;
and C2, determining the lower bound distance of the pre-aiming window according to the following formula:
L low ＝i 1 ×v car +i 2 ×|sinθ| 2 +i 3 ，
wherein i is 1 For the speed coefficient of the lower boundary of the pre-aiming window, v car Calculating the value of the speed, i, for the actual speed of the vehicle 2 For the angle coefficient of the upper boundary of the pre-aiming window, θ is the included angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, the angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window, i, is positive, and the angle between the longitudinal axis of the vehicle and the connecting line between the midpoint of the central line of the rear axle of the vehicle and the upper boundary reference point of the pre-aiming window is rotated in the anticlockwise direction by taking the longitudinal axis of the vehicle as the reference line 3 The minimum pretightening distance is the upper boundary of the pretightening window;
D. c, determining a pre-aiming interval according to the pre-aiming window determined in the step C, and filtering and selecting an interference aiming point;
E. the calculating module (4) calculates the course angle deviation and the position deviation of the interference aiming point selected by the current vehicle coordinate point according to the pre-aiming point determined in the step D;
F. the calculating module (4) calculates the front wheel corner corresponding to each pre-aiming coordinate point according to the position deviation and the course angle deviation of the pre-aiming coordinate point and the current vehicle coordinate obtained in the step E;
G. and the calculation module (4) determines the weight of the front wheel corner corresponding to each pre-aiming coordinate point according to the road condition information and the vehicle state information, and finally, the front wheel corners are added and output according to the previous weight.
2. The method for controlling the path tracking of the unmanned vehicle based on the multipoint tracking according to claim 1, wherein the step B of preprocessing the data of the coordinate point on the reference path comprises the steps of:
b1, converting GPS longitude and latitude coordinate information acquired by a GPS data acquisition module (1) into rectangular coordinates, ignoring factors on altitude during conversion, and assuming that GPS coordinate points acquired by a data acquisition processing unit are on the same horizontal height, selecting a first point on a reference path as a rectangular coordinate origin to obtain tracking path track coordinates under a rectangular coordinate system;
and B2, filtering the points on the converted tracking path by using a Gaussian filtering method to remove the burr points on the path.
3. The method for controlling the path tracking of the unmanned vehicle based on the multipoint tracking according to claim 1, wherein the determining of the pretightening interval and the determining of the pretightening point in the step D comprise the steps of:
d1, determining the interval between the pretightening points according to the following formula:
wherein L is the interval between adjacent pretightening points, L up For the upper boundary distance of the pre-aiming window, L low A is the lower boundary distance of the pre-aiming window, a is the pre-aiming interval coefficient, and R is the maximum curvature radius of an arc line in the pre-aiming window;
d2, determining a pretightening point in a pretightening window according to the following method:
if L is not less than (L) up -L low ) Then take only L up ，L low The specific determination method of the pretightening points corresponding to the two pretightening distances comprises the steps of taking the midpoint of the rear axle of the vehicle as an origin and L up ，L low Drawing a circle for the radius, and taking the intersection point of the reference path and the front part of the vehicle as a pre-aiming point;
if L < (L) up -L low ) The pretightening distance corresponding to each pretightening point is L low ，L low +l,L low +2×l,···,L up Likewise, the center point of the rear axle of the vehicle is taken as the center of a circle, L is taken as low ，L low +l,L low +2×l,···,L up And drawing a circle for the radius, and taking an intersection point with the reference path in front of the vehicle as a pre-aiming point.
4. The unmanned vehicle path tracking control method based on multipoint tracking according to claim 1, wherein in the step F, according to the obtained position deviation and heading angle deviation of the pre-aiming coordinate point and the current vehicle coordinate, a front wheel rotation angle corresponding to each pre-aiming coordinate point is calculated, and the calculation formula is as follows:
wherein delta' is the front wheel rotation angle, L is the distance between the front axle and the rear axle of the vehicle, alpha is the navigation angle deviation, L d For the pretightening distance, kk is the lateral deviation coefficient, d err Is the lateral positional deviation.
5. The method for controlling the path tracking of the unmanned vehicle based on the multipoint tracking according to claim 1, wherein in the step G, the weight of the front wheel angle corresponding to each pre-aiming coordinate point is determined according to the road condition information and the vehicle state information, and finally the front wheel angles are added and output according to the equal weight, and the calculation formula is as follows:
wherein, delta is the rotation angle of the output front wheel, delta' i And (3) outputting front wheel corners corresponding to each pretightening point, wherein n is the number of pretightening points.
6. A control device for performing the unmanned vehicle path-tracking control method based on multipoint tracking according to any one of claims 1 to 5, characterized by: the system consists of a GPS data acquisition module (1), a vehicle speed acquisition module (2), a data preprocessing module (3), a calculation module (4) and a drive-by-wire execution system (5); the GPS data acquisition module (1) and the vehicle speed acquisition module (2) are respectively connected with the drive-by-wire execution system (5) through the data preprocessing module (3) and the calculation module (4);
the GPS data acquisition module (1) is used for acquiring and acquiring the position and posture information of the vehicle in real time and acquiring GPS coordinate points on a path to be tracked; the vehicle speed acquisition module (2) is used for acquiring vehicle speed information; the data preprocessing module (3) is used for transmitting the processed information to the calculation module (4); the calculation module (4) is used for calculating a selection pre-aiming window of a tracking path reference point; determining a pre-aiming interval, and filtering and selecting an interference aiming point; calculating the course angle deviation and the position deviation of the selected target point if the current vehicle coordinate point is selected; calculating a front wheel corner corresponding to each pre-aiming coordinate point; determining the weight of the front wheel corner corresponding to each pre-aiming coordinate point according to the road condition information and the vehicle state information; the output of the computing module (4) is connected with a drive-by-wire execution system (5).
7. The control device of the unmanned vehicle path tracking control method based on the multipoint tracking according to claim 6, wherein: the GPS data acquisition module (1), the period of the vehicle speed acquisition module (2) for acquiring data and acquiring data is 0.002 seconds, and the signal output period of the calculation module (4) is 0.005 seconds.
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