CN109823393A - A kind of intelligent driving Vehicle tracing control method - Google Patents
A kind of intelligent driving Vehicle tracing control method Download PDFInfo
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Abstract
The invention discloses a kind of intelligent driving Vehicle tracing control methods, comprising the following steps: a. generates the destination path curve of vehicle driving, and destination path curve is made of point sequence；B. point nearest away from current vehicle position in point sequence on destination path curve is calculated, determines that vehicle takes aim at position a little in advance on destination path curve based on the point；C. determine vehicle by current location by advance taking aim at the position that the time is actually reached；D. determine vehicle by taking aim at position that the time is actually reached in advance and taking aim at position a little lateral path deviation between the two in advance；E. it is based on lateral path deviation, the rotating angle increment of the steering wheel of output vehicle is calculated using control algolithm；F. the rotational angle of the steering wheel of vehicle is controlled according to the rotating angle increment of steering wheel.Intelligent driving Vehicle tracing control method of the invention has well solved the stability problem and accuracy problem that intelligent vehicle occurs in active steering control process, improves existing active steering control technology.
Description
Technical field
The present invention relates to Vehicular intelligent driving technology fields, and in particular to a kind of intelligent driving Vehicle tracing controlling party
Method.
Background technique
Automatic driving vehicle is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent vehicle of predeterminated target.It is vehicle-periphery to be perceived using onboard sensor, and obtained according to perception
Road, vehicle location and obstacle information, the steering and speed of vehicle are controlled, to enable the vehicle to reliably and securely exist
It is travelled on road.Integrate numerous technologies such as automatic control, architecture, artificial intelligence, vision calculating, is computer section
It learns, the product of pattern-recognition and intelligent control technology high development, and measures a national research strength and industrial level
One important symbol has broad application prospects in national defence and national economy field.
Path following control is one of the key technology of automatic driving car research, and the formulation of path trace problem has very at present
More, they have a common ground: control purpose is that controlled device is enable to walk exactly along desired geometric path.It can be by nothing
People drives the path trace problem description of vehicle are as follows:, being capable of the road that provides of accurate tracking transducer under certain architecture
Information, or track under no road information the research of the control strategy of virtual expected path.Both at home and abroad in path following control
Aspect has done numerous studies, and the main problem faced at present is: due to the non-linear of driver's driving performance, time variation etc.
The kinetic characteristics of feature and vehicle, the auto model obtained in this way is to the response of input signal and the practical sound of real vehicles
It should compare and have gap.
Summary of the invention
The purpose of the present invention is being directed to the problems of the prior art, a kind of improved intelligent driving Vehicle tracing is provided
Control method.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of intelligent driving Vehicle tracing control method, comprising the following steps:
A. the destination path curve of vehicle driving is generated, destination path curve is made of point sequence；
B. point nearest away from current vehicle position in point sequence is calculated on destination path curve, and vehicle is determined based on the point
The pre- position taken aim at a little on destination path curve；
C. determine vehicle by current location by advance taking aim at the position that the time is actually reached；
D. determine vehicle by taking aim at position that the time is actually reached in advance and taking aim at position a little lateral path deviation between the two in advance；
E. it is based on lateral path deviation, the rotating angle increment of the steering wheel of output vehicle is calculated using control algolithm；
F. the rotational angle of the steering wheel of vehicle is controlled according to the rotating angle increment of steering wheel.
Preferably, the pre- position taken aim at a little of the vehicle on destination path curve is taken aim at a little on destination path curve in advance by calculating
Ordinate value in vehicle axis system obtains.
Further, the pre- ordinate value taken aim at a little in vehicle axis system of the vehicle on destination path curve are as follows: yP=-
(Xp+m-XC)sinψ+(Yp+m-YC) cos ψ, wherein Xp+m、Yp+mFor the position for taking aim at curve segment endpoint serial number in advance, XC、YCWork as vehicle
Front position, ψ are azimuth.
Further, enabling p is point J nearest away from current vehicle position in point sequence on destination path curvepSequence
Number, the initial value of p is 0, enables Jp,Jp+1,Jp+2…Jp+mCurved section is taken aim at for pre- on aim curve path, the length is preview distances
u·Tp, wherein u is Vehicle Speed, TpTo take aim at the time in advance, the pre- terminal J for taking aim at curved section is thereby determined thatp+mSerial numberWherein L0For the distance between two o'clock adjacent in point sequence.
Preferably, vehicle is by current location by advance taking aim at the ordinate of position that the time is actually reached in vehicle axis system
Value are as follows:Wherein vehicle current driving speed is v, longitudinal velocity
Component is u, and angle is β between the two, and vehicle is from current location C with yaw velocity ωrAlong destination path curve by taking aim in advance
Time TpIt is actually reached Q point position.
Preferably, the rotating angle increment of the steering wheel of output vehicle is calculated in step e using pid control algorithm.
Further, the rotating angle increment of steering wheel is Δ θsw=kpey+kDey+ki∫eye-λtDt, wherein eyFor lateral path
Deviation, kpFor proportional gain, kiFor integral gain, kDFor the differential gain, λ is forgetting factor, and λ is greater than 0.
Preferably, the destination path curve in step a is sine wave curve and/or two-track line curve.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages: intelligence of the invention
Vehicle tracing control method is driven by calculating vehicle by taking aim at position that the time is actually reached in advance and taking aim at position a little in advance
Lateral path deviation between the two, and certain control algolithm, control output steering wheel are used based on the lateral path deviation
Rotating angle increment, be then based on the value and the corner of the steering wheel of vehicle be adjusted, in vehicle travel process, to vehicle turn
It is constantly modified to control, reaches ideal control effect, well solved intelligent vehicle and controlled in active steering
The stability problem and accuracy problem occurred in the process improves existing active steering control technology.
Detailed description of the invention
Attached drawing 1 is the flow chart of intelligent driving Vehicle tracing control method of the invention；
Attached drawing 2 is intelligent driving vehicle of the invention to one of tracking effect figure of destination path curve (sinusoidal waveform target road
Diametal curve, car speed 20km/h)；
Attached drawing 3 is two (the sinusoidal waveform target roads of intelligent driving vehicle of the invention to the tracking effect figure of destination path curve
Diametal curve, car speed 40km/h)；
Attached drawing 4 is three (the linear target roads of two-track of intelligent driving vehicle of the invention to the tracking effect figure of destination path curve
Diametal curve, car speed 20km/h)；
Attached drawing 5 is four (the linear target roads of two-track of intelligent driving vehicle of the invention to the tracking effect figure of destination path curve
Diametal curve, car speed 40km/h).
Specific embodiment
The technical solution of the present invention will be further described below with reference to the accompanying drawings.
Intelligent driving Vehicle tracing control method control flow chart of the invention is as shown in Figure 1, specifically include as follows
Step:
(1) the destination path curve of vehicle driving is generated using track creator, destination path curve is made of point sequence.
Destination path curve is by point sequence { J0,J1,J2,…,JnComposition.Wherein J0And JnRespectively destination path curve
Beginning and end.Coordinate of each point in vehicle axis system is (X on destination path curvei,Yi), i=0,1,2 ..., n.These
Point is obtained by sampling, and adjacent distance between two points are set as L0。
(2) point nearest away from current vehicle position in point sequence is calculated on destination path curve, and true based on the point
Determine the pre- position taken aim at a little of the vehicle on destination path curve.
It is taken aim in advance a little on destination path curve in vehicle by calculating the pre- position taken aim at a little of the vehicle on destination path curve
Ordinate value in coordinate system obtains, and circular is as follows:
If current vehicle position is (XC,YC), azimuth ψ, then on above-mentioned destination path curve each point in vehicle axis system
Coordinate are as follows:
Enabling p is point J nearest away from current vehicle position in point sequence on destination path curvepSerial number, 0≤p≤n.P's is first
Value is 0, the dynamic value for determining p by searching for closest approach in real time after vehicle start.Enable Jp,Jp+1,Jp+2…Jp+mFor destination path song
Pre- on line takes aim at curved section, and the length is preview distance uTp, u is the range velocity component of Vehicle Speed, TpWhen to take aim in advance
Between.Thus the terminal J of the line segment is substantially determinedp+mSerial number are as follows:
Therefore, ordinate value y of the point p in vehicle axis system is taken aim on destination path curve in advancepAre as follows:
yP=-(Xp+m-XC)sinψ+(Yp+m-YC)cosψ
In formula, Xp+m、Yp+mFor the position for taking aim at curve segment endpoint serial number in advance, XC、YCFor current vehicle position, ψ is azimuth.
(3) determine vehicle by current location by taking aim at time T in advancepThe position being actually reached.
Vehicle is by current location by taking aim at time T in advancepOrdinate value of the position being actually reached in vehicle axis system
Calculation method it is as follows:
If equation of the t moment destination path curve in vehicle axis system is y=f (x), vehicle current driving speed is v, longitudinal
Velocity component is u, and the two angle is β, i.e. course angle, when vehicle from current location C with yaw velocity ωrIt is travelled along path CQ
When to Q point, experience takes aim at time T in advancep, therefore its angle turned over is θQ=ωrTP, straight line CQ is relative to car speed vector
Angle is θQ/ 2, so the straight line is θ relative to the angle of x-axisQ/2+β.Therefore ordinate value y of the Q point in vehicle axis systemQ
Are as follows:
In formula,The linear distance of Q point is reached from current location C point for vehicle.
(4) determine vehicle by taking aim at position that the time the is actually reached lateral path between the two with position a little is taken aim in advance in advance
Deviation ey。
Lateral path deviation eyIt is calculate by the following formula:
ey=yp-yQ
(5) it is based on lateral path deviation ey, the rotating angle increment of the steering wheel of output vehicle is calculated using control algolithm.
In the present embodiment, according to lateral path deviation ey, using pid control algorithm, export the corner of the steering wheel of vehicle
The rotating angle increment of increment, steering wheel is calculate by the following formula:
Δθsw=kpey+kDey+ki∫eye-λtdt
Wherein kpFor proportional gain, kiFor integral gain, kdFor the differential gain, λ is forgetting factor, λ > 0.
(6) after the rotating angle increment for obtaining steering wheel according to pid control algorithm, the steering to the vehicle under current running state
Disk is adjusted, it is made to rotate corresponding angle.
In this way, being constantly modified in vehicle travel process to the rotational angle of the steering wheel of vehicle.
The present invention completes emulation examination using the auto model that CarSim software provides in matlab/simulink environment
It tests, the destination path curve that setting is emulated in the present embodiment is respectively two kinds of operating conditions of sine wave curve and two-track line curve, vehicle
Travel speed is respectively 20KM/h, 40KM/h, the distance between adjacent two o'clock L on destination path curve0It is set as 1m, using PID
When control algolithm calculates the rotating angle increment of the steering wheel of output vehicle, kp=60, ki=1, kd=0.
Simulation results are completed in matlab/simulink environment as shown in 2~Fig. 5, Fig. 2 and Fig. 3 are sine waves
For vehicle to the tracking effect of destination path curve, vehicle can be efficient, quasi- when speed is respectively 20KM/h and 40KM/h under path
True carry out course changing control and path trace.Figure 4 and 5 are vehicles when speed is respectively 20KM/h and 40KM/h under two-track line operating condition
To the tracking effect of destination path curve, vehicle also can efficiently, accurately carry out course changing control and path trace.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand the contents of the present invention and be implemented, and it is not intended to limit the scope of the present invention, it is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the scope of protection of the present invention.
Claims (9)
1. a kind of intelligent driving Vehicle tracing control method, it is characterised in that: the following steps are included:
A. the destination path curve of vehicle driving is generated, destination path curve is made of point sequence；
B. point nearest away from current vehicle position in point sequence is calculated on destination path curve, and vehicle is determined based on the point
The pre- position taken aim at a little on destination path curve；
C. determine vehicle by current location by advance taking aim at the position that the time is actually reached；
D. determine vehicle by taking aim at position that the time is actually reached in advance and taking aim at position a little lateral path deviation between the two in advance；
E. it is based on lateral path deviation, the rotating angle increment of the steering wheel of output vehicle is calculated using control algolithm；
F. the rotational angle of the steering wheel of vehicle is controlled according to the rotating angle increment of steering wheel.
2. intelligent driving Vehicle tracing control method according to claim 1, it is characterised in that: vehicle is on target road
It is obtained by calculating the ordinate value taken aim at a little in vehicle axis system in advance on destination path curve the pre- position taken aim at a little on diametal curve
?.
3. intelligent driving Vehicle tracing control method according to claim 2, it is characterised in that: vehicle is on target road
The pre- ordinate value taken aim at a little in vehicle axis system on diametal curve are as follows: yP=-(Xp+m-XC)sinψ+(Yp+m-YC) cos ψ, wherein
Xp+m、Yp+mFor the position for taking aim at curve segment endpoint serial number in advance, XC、YCFor current vehicle position, ψ is azimuth.
4. intelligent driving Vehicle tracing control method according to claim 3, it is characterised in that: enabling p is target road
Point J nearest away from current vehicle position in point sequence on diametal curvepSerial number, the initial value of p is 0, enables Jp,Jp+1,Jp+2…Jp+mFor
Pre- on aim curve path takes aim at curved section, and the length is preview distance uTp, wherein u is Vehicle Speed, TpTo take aim in advance
Time thereby determines that the pre- terminal J for taking aim at curved sectionp+mSerial numberWherein L0For a sequence
The distance between adjacent two o'clock in column.
5. intelligent driving Vehicle tracing control method according to claim 1, it is characterised in that: vehicle is by present bit
Set the ordinate value by taking aim at position that the time is actually reached in advance in vehicle axis system are as follows:Wherein vehicle current driving speed is v, and range velocity component is
U, angle is β between the two, and vehicle is from current location C with yaw velocity ωrAlong destination path curve by taking aim at time T in advancepIt is real
Border reaches Q point position.
6. intelligent driving Vehicle tracing control method according to claim 1, it is characterised in that: used in step e
Pid control algorithm calculates the rotating angle increment of the steering wheel of output vehicle.
7. intelligent driving Vehicle tracing control method according to claim 6, it is characterised in that: the corner of steering wheel
Increment is Δ θsw=kpey+kDey+ki∫eye-λtDt, wherein eyFor lateral path deviation, kpFor proportional gain, kiIncrease for integral
Benefit, kDFor the differential gain, λ is forgetting factor, and λ is greater than 0.
8. intelligent driving Vehicle tracing control method according to claim 7, it is characterised in that: pass through PID control
When algorithm calculates the rotating angle increment of the steering wheel of vehicle, kp=60, ki=1, kD=0.
9. intelligent driving Vehicle tracing control method according to claim 1, it is characterised in that: the mesh in step a
Marking path curve is sine wave curve and/or two-track line curve.
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| CN116001908A (en) * | 2022-12-05 | 2023-04-25 | 宁波均胜智能汽车技术研究院有限公司 | Vehicle transverse control method and system, vehicle and readable storage medium |
| CN117606508A (en) * | 2024-01-23 | 2024-02-27 | 智道网联科技(北京)有限公司 | Method, device, electronic equipment, and storage medium for obtaining closest point in trajectory |
| CN117606508B (en) * | 2024-01-23 | 2024-05-31 | 智道网联科技(北京)有限公司 | Method and device for acquiring closest point in track, electronic equipment and storage medium |
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