CN110471428A - A kind of path following method of change preview distance and constraint of velocity based on model - Google Patents

A kind of path following method of change preview distance and constraint of velocity based on model Download PDF

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Publication number
CN110471428A
CN110471428A CN201910879868.6A CN201910879868A CN110471428A CN 110471428 A CN110471428 A CN 110471428A CN 201910879868 A CN201910879868 A CN 201910879868A CN 110471428 A CN110471428 A CN 110471428A
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model
constraint
preview distance
path
following method
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CN110471428B (en
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代昌华
陈国迎
宗长富
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Jilin University
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Jilin University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles

Abstract

The path following method of the change preview distance and constraint of velocity that the invention proposes a kind of based on model.In order to be allowed to the driving characteristics of more someone while to meet the requirement of unpiloted tracking accuracy using model cootrol, the path following method proposed includes lateral course changing control and longitudinal velocity constraint.Wherein lateral course changing control is solved according to the control reference quantity that the preview distance of variation generates, and changing preview distance is that the curvature taken aim at by current lateral error and in advance a little is calculated.Longitudinal velocity constraint is to pass through the road curvature taken aim in advance a little under specified maximum side acceleration to determine maximum longitudinal velocity.The tracking that present invention can be suitably applied to pahtfinder hard, while meeting tracking accuracy, more manned feature reduces the operating frequency of actuator, improves riding comfort.

Description

A kind of path following method of change preview distance and constraint of velocity based on model
Technical field
The invention belongs to the path tracking technique fields of automatic Pilot, and in particular to a kind of based on model cootrol, achievable Become preview distance control and the path following method with constraint of velocity.
Background technique
A path tracking technique ring most basic as automatic Pilot field, it is desirable that height can be realized as far as possible under high speed The path trace effect of precision.The existing path tracking algorithm based on model cootrol can realize high-precision under certain speed Tracking.But the reference control amount and reference result amount for being constrained to System design based on model device are same situation, vehicle It falls far short in path tracking procedure with the driving effect of true driver, shows as that actuator operating frequency is higher, easy production Raw understeer, brings the poor riding comfort of passenger.
Summary of the invention
To solve the above problems, the present invention devises a kind of change preview distance based on model cootrol and has constraint of velocity Path following method, it is intended to improve when using System design based on model device vehicle tracking process more for the driving performance of people, Make it while meeting tracking accuracy, reduces the operating frequency of actuator, improve riding comfort.
Technical solution of the present invention is described with reference to the drawings as follows:
The technical scheme is that the change preview distance based on model cootrol and the path trace side with constraint of velocity Method, including: state obtains, and preview distance calculates, and reference path obtains, and longitudinal speed constraint obtains and be based on model cootrol Obtain steering angle.
The state acquisition is to obtain reference arm of upper a moment according to the reference path of upper a moment and current vehicle condition information The curvature and lateral error of diameter point；
Secondly, preview distance calculate will according to the curvature of lateral error and upper a moment reference path point, realize become take aim in advance away from From strategy；
Then, reference path acquisition is to obtain new reference according to new reference path and preview distance obtained in the previous step Path point, while obtaining the reference state on the reference path point；
Last longitudinal direction speed constraint obtains and obtains steering angle based on model cootrol while carrying out；Wherein, according to new ginseng The curvature estimation for examining path point obtains maximum longitudinal velocity as the longitudinal velocity constraint in this method；Simultaneously according to new reference Parameter needed for the reference state and current vehicle condition of path point derive crosswise joint, these parameters are used for based on model In controller, steering angle is calculated；Maximum longitudinal velocity and steering angle are issued to actuator, path trace can be completed.
Detailed description of the invention
Fig. 1 is the flow chart of method provided by the present invention.
Specific embodiment
It is described with reference to the accompanying drawing to implement to further illustrate particular content and its specific embodiment of the invention:
The technical scheme is that the change preview distance based on model cootrol and the path trace side with constraint of velocity Method, including: state obtains, and preview distance calculates, and reference path obtains, and longitudinal speed constraint obtains and be based on model cootrol Obtain steering angle.
Firstly, state acquisition is to obtain the reference path of upper a moment according to the reference path of upper a moment and current vehicle condition information The curvature and lateral error of point, lateral error refer to reference path nearest apart from current vehicle location in a moment reference path Point calculates.
Secondly, preview distance calculate will according to the curvature of lateral error and upper a moment reference path point, realize become take aim in advance away from From strategy, specific implementation are as follows:
Or are as follows:
Lpre=VOxtpre
Wherein K1+K2=1, respectively weight coefficient；e1For lateral error；emaxFor maximum error on the safe side；ρ is ginseng of upper a moment Examine the curvature of path point；ρmaxFor maximum path curvature；Lpremax、LpreminFor maximum, minimum preview distance, Δ Lpre=Lpremax- Lpremin, tpremax、tpreminTime, Δ t are taken aim in advance to be maximum, minimumpre=tpremax-tpremin, LpreFor preview distance；VOxIt is vertical To speed.
Then, reference path acquisition is to obtain new reference according to new reference path and preview distance obtained in the previous step Path point, while the reference state on the reference path point is obtained, specific reference state need to be determined according to the selection of model, Or all acquire all obtainable states, so that controller later selectively uses.
Last longitudinal direction speed constraint obtains and obtains steering angle based on model cootrol while carrying out.Wherein, according to new ginseng The curvature estimation for examining path point obtains maximum longitudinal velocity as the longitudinal velocity constraint in this method, specific implementation are as follows:
Wherein, aydesIt is specified maximum side acceleration；VoxdesIndicate ideal speed；Maximum desired limit speed.
Parameter needed for deriving crosswise joint according to the reference state of new reference path point and current vehicle condition simultaneously, These parameters are used in System design based on model device, steering angle is calculated.Wherein System design based on model device is according to reality It needs to be selected, for example the quadratic form adjuster based on kinematics model controls, the model based on kinetic model is pre- Survey controller.Maximum longitudinal velocity and steering angle are issued to actuator, path trace can be completed.

Claims (7)

1. a kind of path following method of change preview distance and constraint of velocity based on model, which is characterized in that the method The following steps are included:
The reference path of upper a moment and current vehicle condition information are saved, the song of lateral error and upper a moment reference path point is calculated Rate；
According to the curvature estimation preview distance of lateral error and upper a moment reference path point；
After obtaining reference path, new reference path point is obtained according to the preview distance that previous step is calculated；
Maximum longitudinal velocity is obtained by the curvature estimation of new reference path point, while according to the reference of new reference path point These parameters are used for System design based on model device by parameter needed for state and current vehicle condition information acquisition crosswise joint, Steering angle is calculated.
2. the path following method of the change preview distance and constraint of velocity described in accordance with the claim 1 based on model, feature Be: the acquisition pattern of reference path is not limited to setting or online updating offline.
3. the path following method of the change preview distance and constraint of velocity described in accordance with the claim 1 based on model, feature Be: this method not only has preview distance, still changes, its realization is the curvature according to reference path of upper a moment point It is calculated with lateral error, circular are as follows:
Or are as follows:
Lpre=VOxtpre
Wherein K1+K2=1, respectively weight coefficient；e1For lateral error；emaxFor maximum error on the safe side；ρ is reference arm of upper a moment The curvature of diameter point；ρmaxFor maximum path curvature；Lpremax、LpreminFor maximum, minimum preview distance, Δ Lpre=Lpremax- Lpremin, tpremax、tpreminTime, Δ t are taken aim in advance to be maximum, minimumpre=tpremax-tpremin, LpreFor preview distance；VOxIt is vertical To speed.
4. the path following method of the change preview distance and constraint of velocity described in accordance with the claim 1 based on model, feature Be: the i.e. longitudinal speed of the constraint of longitudinal speed need to be less than under specified maximum side acceleration by taking aim at road song a little in advance Rate determines maximum longitudinal velocity, are as follows:
Wherein, aydesIt is specified maximum side acceleration；VoxdesIndicate ideal speed；Maximum desired limit speed.
5. the path following method of the change preview distance and constraint of velocity described in accordance with the claim 1 based on model, feature Be: applicable model includes vehicle kinematics model and kinetic model.
6. the path following method of the change preview distance and constraint of velocity described in accordance with the claim 1 based on model, feature Be: applicable System design based on model device includes linearquadratic regulator and model predictive controller.
7. the path following method of the change preview distance and constraint of velocity described in accordance with the claim 1 based on model, feature Be: obtained steering angle can be steering wheel angle or be steering wheel angle.
CN201910879868.6A 2019-09-18 2019-09-18 Path tracking method based on variable pre-aiming distance and speed constraint of model Active CN110471428B (en)

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CN111812974A (en) * 2020-05-28 2020-10-23 北京理工大学 Comprehensive control method for bilateral motor-driven tracked vehicle
CN112486018A (en) * 2020-12-23 2021-03-12 中国矿业大学(北京) Model-free unmanned vehicle path tracking method based on speed adaptive preview
CN112612289A (en) * 2021-03-08 2021-04-06 浙江大华技术股份有限公司 Trajectory tracking control method, mobile robot, control device, and storage medium
CN112731932A (en) * 2020-12-24 2021-04-30 哈尔滨工业大学芜湖机器人产业技术研究院 Path tracking method of mobile robot
CN112925323A (en) * 2021-01-28 2021-06-08 北京科技大学 Rule-based mobile robot speed adjusting method and system
CN112937580A (en) * 2019-11-25 2021-06-11 郑州宇通客车股份有限公司 Target path tracking method and device
WO2021147070A1 (en) * 2020-01-23 2021-07-29 Baidu.Com Times Technology (Beijing) Co., Ltd. A feedback based real time steering calibration system
CN113673028A (en) * 2021-08-03 2021-11-19 中汽创智科技有限公司 Speed planning method and device, electronic equipment and storage medium
CN113778072A (en) * 2020-10-26 2021-12-10 北京京东乾石科技有限公司 Mobile robot control method, mobile robot control device, storage medium, and mobile robot
CN116572972A (en) * 2023-07-03 2023-08-11 中国第一汽车股份有限公司 Transverse control method and device of vehicle, electronic equipment and storage medium

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CN112937580A (en) * 2019-11-25 2021-06-11 郑州宇通客车股份有限公司 Target path tracking method and device
CN110908284A (en) * 2019-12-06 2020-03-24 苏州智加科技有限公司 Transverse control method and system for automatically driving truck
WO2021147070A1 (en) * 2020-01-23 2021-07-29 Baidu.Com Times Technology (Beijing) Co., Ltd. A feedback based real time steering calibration system
CN111812974A (en) * 2020-05-28 2020-10-23 北京理工大学 Comprehensive control method for bilateral motor-driven tracked vehicle
CN111812974B (en) * 2020-05-28 2021-07-13 北京理工大学 Comprehensive control method for bilateral motor-driven tracked vehicle
CN113778072A (en) * 2020-10-26 2021-12-10 北京京东乾石科技有限公司 Mobile robot control method, mobile robot control device, storage medium, and mobile robot
CN112486018B (en) * 2020-12-23 2021-08-17 中国矿业大学(北京) Model-free unmanned vehicle path tracking method based on speed adaptive preview
CN112486018A (en) * 2020-12-23 2021-03-12 中国矿业大学(北京) Model-free unmanned vehicle path tracking method based on speed adaptive preview
CN112731932A (en) * 2020-12-24 2021-04-30 哈尔滨工业大学芜湖机器人产业技术研究院 Path tracking method of mobile robot
CN112925323A (en) * 2021-01-28 2021-06-08 北京科技大学 Rule-based mobile robot speed adjusting method and system
CN112925323B (en) * 2021-01-28 2022-03-15 北京科技大学 Rule-based mobile robot speed adjusting method and system
CN112612289A (en) * 2021-03-08 2021-04-06 浙江大华技术股份有限公司 Trajectory tracking control method, mobile robot, control device, and storage medium
CN113673028A (en) * 2021-08-03 2021-11-19 中汽创智科技有限公司 Speed planning method and device, electronic equipment and storage medium
CN116572972A (en) * 2023-07-03 2023-08-11 中国第一汽车股份有限公司 Transverse control method and device of vehicle, electronic equipment and storage medium

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