CN110297502B - Line control chassis track tracking control system and method based on UWB positioning - Google Patents
Line control chassis track tracking control system and method based on UWB positioning Download PDFInfo
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Abstract
The invention discloses a track tracking control system and a track tracking control method of a drive-by-wire chassis based on UWB positioning, which are characterized in that real-time positioning data of a vehicle is obtained based on a UWB positioning technology, and a high-order perturbation filtering method is adopted to subtract the positioning data from a reference track to obtain the control quantity of the current moment, including transverse position deviation and course angle deviation; two subsystems are decomposed based on an inversion method: the system comprises a transverse position deviation control subsystem and a course angle deviation control subsystem, wherein the transverse position deviation control subsystem and the course angle deviation control subsystem form a closed-loop control system, and according to control quantity, the wheel rotation angle and the driving moment are calculated and obtained to drive the vehicle to move forwards, so that the tracking of a reference track is completed. According to the invention, good data fusion is carried out between UWB and vehicle track tracking control, and the track tracking control of the invention has good system robustness and safety by using a high-order perturbation filtering method.
Description
Technical Field
The invention belongs to the field of track tracking, and particularly relates to a track-by-wire chassis track tracking control system and method based on UWB positioning.
Background
Regarding UWB near-field location technology: as a perception link in an unmanned vehicle perception-decision-making-execution system, a plurality of high and new technologies such as SLAM, high-precision maps, GPS-RTK and the like are developed at present. But the SLAM technology is not mature, the high-precision map cooperation is too few, and the GPS cost is higher.
The Ultra Wide Band (UWB) is a novel wireless communication technology, according to the specification of the Federal communications Commission in the United states, the working frequency Band of the UWB is 3.1-10.6 GHz, the ratio of the system-10 dB bandwidth to the system center frequency is more than 20% or the system bandwidth is at least 500 MHz. The generation of the UWB signal can be realized by modulating a narrow pulse (such as a secondary Gaussian pulse) with extremely short transmission time (such as 2ns) to a UWB working frequency band in an up-conversion mode such as differentiation or frequency mixing.
The ultra-wideband has the main advantages of low power consumption, insensitivity to channel fading (such as multipath and non-line-of-sight channels), strong anti-interference capability, no interference to other equipment in the same environment, strong penetrability (positioning can be performed in an environment penetrating through a brick wall), and very high positioning accuracy and positioning precision.
The technology adopts TDOA (time difference of arrival principle), and utilizes UWB technology to measure the time difference of the propagation of radio signals between a positioning tag and two different positioning base stations, thereby obtaining the distance difference of the positioning tag relative to four groups of positioning base stations. By using the TDOA technology, the positioning tags do not need to carry out reciprocating communication with the positioning base stations, and only the positioning tags need to transmit or receive UWB signals, so that higher positioning dynamic and positioning capacity can be achieved.
Regarding the automobile trajectory tracking technology: as one of several key technologies of the smart car, the trajectory following control of the smart car mainly studies how to realize the unmanned operation of the vehicle by controlling a steering system and a braking/driving system of the vehicle so that the vehicle can travel along a desired route at a desired speed. Considering that various parts constituting a vehicle, such as tires, suspensions, steering systems, etc., are nonlinear systems, there are couplings between different parts, and uncertainty of parameters of the vehicle, such as mass, etc., it is difficult to establish an accurate vehicle dynamics model; in addition, the running working conditions are complex and changeable, which brings great difficulty to the track following control of the vehicle.
In most of the current research methods for trajectory following, the method is mainly derived from the predictive theory and the model predictive theory in principle. In order to facilitate the processing of constraints and simultaneously consider the influence of road curvature on the track following effect, a track following controller based on model predictive control is gradually becoming a hot point of research. The MPC controller is also called a rolling time domain controller, predicts the output behavior of the system in a future period of time according to a dynamic model of the control system, considers the dynamic characteristic constraint and the state constraint of each actuator in the system, and solves the optimal control problem with the constraint to minimize the tracking error of the system in the future period of time so as to obtain the optimal control input. As the model prediction control algorithm has the excellent characteristics of model prediction, rolling optimization, feedback correction and the like, the MPC controller has good adaptivity and robustness.
The disadvantages of the prior art are summarized as follows:
1. for realizing vehicle positioning in the track tracking technology, the existing positioning method is difficult to balance between cost and precision; some positioning methods (such as RTK-GPS) have higher cost, and the positioning accuracy is insufficient by using the GPS alone, so that the positioning method is difficult to be applied in a fixed scene;
2. for a track tracking algorithm, the existing method is difficult to balance in the aspects of calculated amount and tracking precision; some track tracking algorithms (such as MPC) rely on stronger computing processing capability, and the tracking accuracy is difficult to guarantee by using the traditional track tracking method (such as single point preview);
3. in a track tracking control algorithm, the intelligent vehicle tracking control method is not well integrated with a vehicle sensing system, and most of the intelligent vehicle tracking control method is developed by using a sensing-planning-control framework, so that the flexibility of the intelligent vehicle system is insufficient.
Disclosure of Invention
The invention aims to provide a system and a method for controlling track-by-wire chassis track tracking based on UWB positioning aiming at the defects of the prior art, and is used for solving the following problems:
1. searching a low-cost high-precision track tracking positioning scheme in a fixed scene (such as a park and a factory);
2. the vehicle track tracking steering angle control law is deduced by using an inversion method, so that the calculation amount and the tracking precision are well balanced;
3. relevant process quantities in a UWB positioning system are introduced into track tracking control obtained by derivation based on an inversion method, so that the UWB positioning unit and the track tracking control unit are better fused, and the robustness of the system is enhanced;
the purpose of the invention is realized by the following technical scheme: a line control chassis track tracking control system based on UWB positioning comprises a UWB positioning unit and a track tracking control unit;
a UWB positioning unit: the method comprises the steps that vehicle real-time positioning data are obtained on the basis of a UWB positioning technology, a high-order perturbation filtering method is adopted, and the positioning data and a reference track are subtracted to obtain control quantity at the current moment, wherein the control quantity comprises transverse position deviation and course angle deviation;
a trajectory tracking control unit: the unit is a closed-loop control system, and two subsystems are decomposed based on an inversion method: and the transverse position deviation control subsystem and the course angle deviation control subsystem calculate to obtain the wheel rotation angle and the driving moment according to the control quantity output by the UWB positioning unit, drive the vehicle to move forwards and complete the tracking of the reference track.
Further, the UWB positioning unit comprises a vehicle-mounted antenna and at least three positioning base stations; the positioning base station and the vehicle-mounted antenna are respectively supplied with power, the system automatically networks after power supply, and the vehicle-mounted antenna and the base station synchronously output positioning data in real time, wherein the positioning data comprise the current position coordinates of the vehicle and the angles between the vehicle and each positioning base station.
Further, the formula of the high-order perturbation filtering method adopted by the UWB positioning unit is as follows:
in the formula a1-akWhen the sampling frequency is k, positioning data which contains the shooting amount and is acquired by the UWB positioning technology at the current moment, namely, the originally acquired data; fyIs a higher order of the current timeAn output value, when the positioning data is the coordinates of the current position of the vehicle, FyTransverse position P to reference trackyMaking a difference to obtain the transverse position deviation y of the current moment; when the positioning data is the angle between the vehicle and each positioning base station, FyThe difference is made with the reference course angle theta, and the course angle deviation of the current moment can be obtained
Further, a control law is derived from an inversion method in the trajectory tracking control unit, and the implementation process is as follows:
firstly, the control of the transverse position deviation y of the transverse position deviation control subsystem is carried out, which specifically comprises the following steps:
according to the kinematic model of the vehicle, it can be known that:
wherein
As the transverse speed of the vehicle, VrAs is the longitudinal speed of the vehicle,
is the course angle deviation, deltaFIs the steering angle, beta, of the front wheelFIs a front wheel side slip angle;
virtual control law for controlling transverse position deviation to subsystem
The tracking target of the course angle deviation control subsystem is used for carrying out course angle deviation of the course angle deviation control subsystem
The formula is as follows:
wherein
Is composed of
L is the vehicle wheelbase, c(s) is the road curvature;
taking the virtual control rate of the course angle deviation control subsystem as the actual control law of the whole closed-loop control system to finally obtain the front wheel steering angle deltaFDeviation from lateral position y and course angle
The relationship of (c) is:
wherein beta isRFor the rear wheel side slip angle, α is an intermediate variable, α is 1-c(s) y.
A drive-by-wire chassis track tracking control method based on UWB positioning comprises the following steps:
(1) acquiring real-time positioning data of the vehicle based on a UWB positioning technology, wherein the positioning data comprises current position coordinates of the vehicle and angles between the vehicle and each positioning base station, and then subtracting a reference track from the positioning data by adopting a high-order perturbation filtering method to obtain control quantity at the current moment, including transverse position deviation and course angle deviation;
(2) two subsystems are decomposed based on an inversion method: and (2) a transverse position deviation control subsystem and a course angle deviation control subsystem, wherein the two subsystems form a closed-loop control system, and the wheel rotation angle and the driving torque are calculated according to the control quantity at the current moment obtained in the step (1) to drive the vehicle to move forwards so as to complete the tracking of the reference track.
The invention has the beneficial effects that:
1. the UWB positioning technology is applied to vehicle track tracking control in a fixed scene, high-precision positioning in a given space can be realized, the calculation cost is saved, and the practicability is high;
2. the track tracking control method can complete track tracking operation with higher precision in smaller calculated amount, saves the calculation cost and has stronger practicability;
3. according to the invention, good data fusion is innovatively carried out between UWB and vehicle track tracking control, and a high-order perturbation filtering method is deduced, so that the track tracking control under the method has good system robustness and safety.
Drawings
FIG. 1 is a UWB positioning schematic;
FIG. 2 is a diagram of a trajectory tracking scheme;
FIG. 3 is a trajectory tracking framework;
FIG. 4 is a view of the drive-by-wire chassis;
fig. 5 is a graph of the experimental results.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention completes the track tracking control of the drive-by-wire chassis based on the UWB near-field positioning technology and the automobile track tracking technology.
The invention provides a line control chassis track tracking control system based on UWB positioning, which comprises a UWB positioning unit and a track tracking control unit;
a UWB positioning unit: acquiring real-time positioning data of a vehicle based on a UWB positioning technology, and subtracting the reference track from the positioning data by adopting a high-order perturbation filtering method to finally obtain the control quantity of the current moment, wherein the control quantity comprises transverse position deviation and course angle deviation;
a trajectory tracking control unit: according to the control quantity output by the UWB positioning unit, the wheel turning angle and the driving moment are obtained through calculation, and the vehicle is driven to move forwards through the steer-by-wire actuator and the driving motor; the UWB positioning antenna mounted on the vehicle acquires the vehicle positioning data at the next moment, and so on, and completes the tracking of the reference trajectory, as shown in fig. 3.
As shown in fig. 1, the UWB positioning technology is composed of at least three positioning base stations and a vehicle-mounted antenna. The positioning base station and the vehicle-mounted antenna are respectively supplied with power, the system automatically networks after power supply, and the vehicle-mounted antenna and the base station synchronously output positioning data in real time, wherein the positioning data comprise the current position coordinates of the vehicle and the angles between the vehicle and each positioning base station. Specifically, the vehicle-mounted antenna obtains the distance of a base station through measurement, and can determine a spherical surface; measuring the distance between the two base stations to determine a circle; one or two unique spatial positions can be determined by measuring the distances between the three base stations, and the final three-dimensional position of the vehicle-mounted antenna is obtained by judging and omitting one position; if four or more base stations are used, redundant observed quantities are increased, the more the observable information quantity is, the higher the reliability is, and the precision is improved accordingly. This is the same as the GPS principle, and the greater the number of satellites, the greater the observations that can be provided to the receiver, and the greater the positioning accuracy. Different from the GPS, the base station positioning system is in a relatively small indoor and outdoor environment, and the signal transmission distance is short, so that the influence of errors such as time delay, ionospheric refraction and the like generated in the transmission process can be ignored. Therefore, the method is suitable for the development of vehicle track tracking operation in the garden.
As shown in fig. 4, the drive-by-wire chassis is composed of a vehicle control unit 1, a driving motor 2, a hydraulic braking system 3, a power battery pack 4, a wireless communication module 5, a steer-by-wire system 6, a UWB vehicle-mounted antenna 7 and the like.
The high-order perturbation filtering method is described as follows: if the positioning data (the current position coordinates of the vehicle and the angles between the vehicle and each positioning base station) are not filtered, the real-time performance of the positioning data is high, but the noise is large. When different filtering modes are adopted to filter data, data with higher precision can be obtained. Most of the noise in the original data is the amount of perturbation, and the high-order perturbation filtering is to filter the amount of perturbation noise in the original data under the control idea of the minimum high-order amount, so as to finally obtain good data which is stable in data and can be subjected to data fusion with the trajectory planning control part. The specific formula is as follows:
in the formula a1-akWhen the sampling frequency is k, positioning data which contains the shooting amount and is acquired by the UWB positioning technology at the current moment, namely, the originally acquired data; fyFor the high-order output value of the current time, when the positioning data is the coordinates of the current position of the vehicle, F isyTransverse position P to the reference trackyMaking a difference to obtain the transverse position deviation y of the current moment; when the positioning data is the angle between the vehicle and each positioning base station, FyThe difference is made with the reference course angle theta, and the course angle deviation of the current moment can be obtained
And then, deriving a turning angle control law of the vehicle by an inversion method, so that data output by the UWB positioning unit is fused with the track tracking control unit to obtain a track tracking control system with higher stability and robustness.
And the specific control law of the track tracking control unit is derived by an inversion method. The basic design idea of the inversion method is to decompose a complex nonlinear system into subsystems with the order not exceeding the system order, then separately design a part of control functions of each subsystem, obtain a virtual control law of the subsystem on the basis of ensuring that the subsystems have certain convergence, and in the design of the next subsystem, take the virtual control law of the previous subsystem as a tracking target of the subsystem. Similar to the design of the previous subsystem, obtaining the virtual control law of the subsystem; by parity of reasoning, finally obtain the wholeThe actual control law of a closed loop system. In the trajectory tracking control unit, the vehicle positioning data is subtracted from the reference trajectory to obtain two control inputs, namely a lateral position deviation y and a course angle deviation
The track tracking control unit is a closed-loop control system, and two subsystems are decomposed based on an inversion method: as shown in fig. 2, the lateral position deviation control subsystem and the heading angle deviation control subsystem are implemented as follows:
firstly, the control of the lateral position deviation y of the lateral position deviation control subsystem is carried out, specifically as follows:
according to the kinematic model of the vehicle, it can be known that:
wherein
As the transverse speed of the vehicle, VrFor the longitudinal speed of the vehicle, V is taken, usually during experiments in which the vehicle is run at a constant longitudinal speedr＝2m/s，
Is the course angle deviation, deltaFFor front wheel steering angle, betaFIs a front wheel side slip angle.
Virtual control law for controlling transverse position deviation to subsystem
The tracking target of the course angle deviation control subsystem is used for carrying out course angle deviation of the course angle deviation control subsystem
The formula is as follows:
wherein
Is composed of
L is the vehicle wheelbase, c(s) is the road curvature.
Taking the virtual control rate of the course angle deviation control subsystem as the actual control law of the whole closed-loop control system to finally obtain the front wheel steering angle deltaFDeviation from lateral position y and course angle
The relationship of (1) is:
wherein beta isRFor the rear wheel side slip angle, α is an intermediate variable, α is 1-c(s) y.
The experimental result shows that under the working condition of transverse lane changing, the whole track tracking control system is stable after about 5 seconds, and the transverse deviation and the course angle deviation are within an acceptable range at the moment, so that the effect is better.
In fig. 5(a), the abscissa is time, the ordinate is a heading angle (in radians), the solid line represents a reference heading angle, and the dash-dot line represents an actual heading angle, so that the tracking accuracy of the heading angle is high, and the maximum error does not exceed 0.02 rad.
In fig. 5(b), the abscissa is time, the ordinate is the lateral position (in meters) of the reference track, the solid line represents the lateral position of the reference track, and the dash-dot line represents the lateral position in actual operation, and it can be seen from the figure that the tracking accuracy of the lateral position is high, and the maximum error is not more than 0.5 m.
The above are merely examples of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like, which are not made by the inventive work, are included in the scope of protection of the present invention within the spirit and principle of the present invention.
Claims (4)
1. A drive-by-wire chassis track tracking control system based on UWB positioning is characterized by comprising a UWB positioning unit and a track tracking control unit;
a UWB positioning unit: acquiring real-time positioning data of a vehicle based on a UWB positioning technology, and subtracting a reference track from the positioning data by adopting a high-order perturbation filtering method to obtain a control quantity at the current moment, wherein the control quantity comprises a transverse position deviation and a course angle deviation;
a trajectory tracking control unit: the unit is a closed-loop control system, and two subsystems are decomposed based on an inversion method: the transverse position deviation control subsystem and the course angle deviation control subsystem calculate to obtain a wheel corner and a driving moment according to the control quantity output by the UWB positioning unit, drive the vehicle to move forwards and complete the tracking of a reference track; the track tracking control unit derives a control law by an inversion method, and the implementation process is as follows: firstly, the control of the transverse position deviation y of the transverse position deviation control subsystem is carried out, which specifically comprises the following steps:
according to the kinematic model of the vehicle, it can be known that:
wherein
As the transverse speed of the vehicle, VrIn the longitudinal direction of the vehicleThe speed of the motor is controlled by the speed of the motor,
is the course angle deviation, deltaFIs the steering angle, beta, of the front wheelFIs a front wheel side slip angle;
virtual control law for controlling transverse position deviation to subsystem
The tracking target of the course angle deviation control subsystem is used for carrying out course angle deviation of the course angle deviation control subsystem
The formula is as follows:
wherein
Is composed of
L is the vehicle wheelbase, c(s) is the road curvature;
taking the virtual control rate of the course angle deviation control subsystem as the actual control law of the whole closed-loop control system to finally obtain the front wheel steering angle deltaFDeviation from lateral position y and course angle
The relationship of (1) is:
wherein beta isRFor the rear wheel side slip angle, α is an intermediate variable, α is 1-c(s) y.
2. The system of claim 1, wherein the UWB positioning unit comprises a vehicle-mounted antenna and at least three positioning base stations; the positioning base station and the vehicle-mounted antenna are respectively supplied with power, the system automatically networks after power supply, and the vehicle-mounted antenna and the base station synchronously output positioning data in real time, wherein the positioning data comprise the current position coordinates of the vehicle and the angles between the vehicle and each positioning base station.
3. The system according to claim 1, wherein the UWB positioning unit employs a higher order perturbation filtering method according to the following formula:
in the formula a1-akWhen the sampling frequency is k, positioning data which contains the shooting amount and is acquired by the UWB positioning technology at the current moment, namely, the originally acquired data; fyFor the high-order output value of the current time, when the positioning data is the coordinates of the current position of the vehicle, F isyTransverse position P to the reference trackyMaking a difference to obtain the transverse position deviation y of the current moment; when the positioning data is the angle between the vehicle and each positioning base station, FyThe difference is made with the reference course angle theta, and the course angle deviation of the current moment can be obtained
4. A line control chassis track tracking control method based on UWB positioning is characterized by comprising the following steps:
(1) acquiring real-time positioning data of the vehicle based on a UWB positioning technology, wherein the positioning data comprises current position coordinates of the vehicle and angles between the vehicle and each positioning base station, and then subtracting a reference track from the positioning data by adopting a high-order perturbation filtering method to obtain control quantity at the current moment, including transverse position deviation and course angle deviation;
(2) two subsystems are decomposed based on an inversion method: the system comprises a transverse position deviation control subsystem and a course angle deviation control subsystem, wherein the transverse position deviation control subsystem and the course angle deviation control subsystem form a closed-loop control system, and according to the control quantity at the current moment obtained in the step (1), the wheel rotation angle and the driving moment are calculated to drive the vehicle to move forwards so as to complete the tracking of a reference track; the specific steps of decomposing two subsystems by an inversion method are as follows: firstly, the control of the lateral position deviation y of the lateral position deviation control subsystem is carried out, specifically as follows:
according to the kinematic model of the vehicle, it can be known that:
wherein
As the transverse speed of the vehicle, VrAs is the longitudinal speed of the vehicle,
is the course angle deviation, deltaFIs the steering angle, beta, of the front wheelFIs a front wheel side slip angle;
virtual control law for controlling transverse position deviation
As a shipTracking target of the heading angle deviation control subsystem, and performing heading angle deviation of the heading angle deviation control subsystem
The formula is as follows:
wherein
Is composed of
L is the vehicle wheelbase, c(s) is the road curvature;
taking the virtual control rate of the course angle deviation control subsystem as the actual control law of the whole closed-loop control system to finally obtain the front wheel steering angle deltaFDeviation from lateral position y and course angle
The relationship of (1) is:
wherein beta isRFor the rear wheel side slip angle, α is an intermediate variable, α is 1-c(s) y.
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