CN108845568A - Trajectory Tracking Control System and its control method for Vehicular automatic driving - Google Patents
Trajectory Tracking Control System and its control method for Vehicular automatic driving Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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Abstract
The present invention discloses a kind of Trajectory Tracking Control System and its control method for Vehicular automatic driving, the control system includes the car-mounted device being installed in the vehicle and the vehicle monitoring module for being laid on road surface, and the vehicle monitoring module is used for the road conditions and vehicle traveling information in real-time monitoring section；The real-time road condition information and vehicle traveling information that the car-mounted device is detected according to the vehicle monitoring module carry out automatic Pilot control to vehicle；The control method is that the error of vehicle current driving track and reference locus is calculated by data pre-processor, target capabilities target function corresponding with current driving mode is obtained simultaneously, the driving status of vehicle in a period of time is predicted by upper controller again, the optimum control amount at current time is calculated according to the driving status of prediction and performance index function, lower layer's controller carries out automatically controlling vehicle further according to optimum control amount.
Description
Technical field
The invention belongs to field of vehicle control, are particularly used for Trajectory Tracking Control System and the control of Vehicular automatic driving
Method.
Background technique
Automatic driving vehicle perceives vehicle-periphery using onboard sensor, and according to perceive road obtained,
Vehicle location and obstacle information, control the steering and speed of vehicle, to enable the vehicle to reliably and securely in road uplink
It sails.Unmanned technology is tested as the synthesis of the new concept of modernized war, the new direction of automotive technology development and scientific research
Platform is demonstrate,proved, always by the concern of Defence business, auto industry and colleges and universities and scientific research institution.And track following refers to tracking by rail
The reference locus that mark planner is pre-defined or provided, is one of three basic problems of Unmanned Systems, is that vehicle is final
The major issue of traveling can safely and reasonably be met the requirements.
The domestic or even research about automatic driving vehicle track following problem in the world at present, for dynamics of vehicle spy
Property considers less, and vehicle dynamics characteristics especially tire characteristics are extremely complex in practical problem, have extremely strong non-linear
With more constraint condition, the requirement of Trajectory Tracking Control is unable to satisfy using general PID LQR controller.And it is controlling
To open the vertical and horizontal kinetic decomposition of vehicle to apply control strategy respectively in device structure processed, i.e., by speed control and
Steering controller independently controls vehicle driving.Although this thinking can simplify the design and control device of control method
It realizes, but because having ignored the dynamic (dynamical) coupled characteristic of vehicle vertical, horizontal, sacrifices the driving performance of unmanned vehicle, especially
In the stability and performance in emergency circumstances such as high speed, zig zag.In addition, for complicated traffic environment, using immobilizing
Control rate be unable to satisfy the requirement of road driving.
Automatic driving vehicle on the market, which mostly uses greatly, at present installs radar on vehicle to perceive vehicle-periphery, and
According to road, vehicle location and obstacle information obtained is perceived, the steering and speed of vehicle are controlled, however is visited by radar
Survey can there are problems that detecting dead angle, and radar signal be easy to cause if not vertical reflection and do not receive reflection signal
The case where, so as to cause detection inaccuracy or signal is not detected, not can guarantee the safety traffic of vehicle.
Summary of the invention
That in response to the problems existing in the prior art, the purpose of the present invention is to provide a kind of control effects is good, practicability is high, can mention
The Trajectory Tracking Control System and control method for Vehicular automatic driving of high intact stability.
To achieve the above object, the technical solution adopted by the present invention is that：
For the Trajectory Tracking Control System of Vehicular automatic driving, including the car-mounted device being installed in the vehicle and it is laid on
The vehicle monitoring module on road surface, the car-mounted device include track creator, data pre-processor, upper controller, lower layer's control
Device and data receipt unit processed, the input terminal of the data pre-processor are separately connected the track creator and data receiver list
Member, output end are sequentially connected upper controller and lower layer's controller；The vehicle monitoring module is used for the road in real-time monitoring section
Condition and vehicle traveling information；The real-time road condition information and vehicle driving that the car-mounted device is detected according to the vehicle monitoring module
Information carries out automatic Pilot control to vehicle.
Specifically, the vehicle monitoring module includes multiple groups photosensitive sensor and/or multiple groups ultrasonic sensor, photosensitive opens
Close control unit, the unit that tests the speed, radio frequency identification unit, data storage cell and data transmission unit；The car-mounted device and vehicle
Monitoring modular realizes that wireless telecommunications connect with data receipt unit by the data transmission unit.
Specifically, in the multiple groups photosensitive sensor/ultrasonic sensor each group be all provided with that there are two photosensitive sensors/super
Sonic sensor, and the distance between described two photosensitive sensor/ultrasonic sensors are fixed；The light sensor
Device/ultrasonic sensor is also connected with timer, starts timing when sensor-triggered；
Photosensitive sensor/the ultrasonic sensor is used to road pavement vehicle and tests the speed, and believes the road conditions in section
Breath is monitored, and traffic information mainly includes the information such as vehicle congestion.
Specifically, the photosensitive switch control unit and the multiple groups photosensitive sensor, multiple groups ultrasonic sensor, test the speed
Unit electrical connection replaces the photosensitive sensor to work for controlling the ultrasonic sensor under no light condition；
The alternation of the photosensitive sensor and ultrasonic sensor is realized by the photosensitive switch control unit, both
The monitoring to vehicle can be similarly realized at night, while also can be reduced the burden of sensor, avoid working long hours and damaging.
Specifically, the radio frequency identification unit includes the radio-frequency card installed in the car and the reader that road surface is arranged in, institute
The information for stating identity information and vehicle that car owner is stored in radio-frequency card, photosensitive sensor/ultrasonic sensor described in every group it
Between be equipped with the reader；
When vehicle crosses one group of photosensitive sensor/ultrasonic sensor, the reader, the reader must travel
It is the information that can recognize the identity information and vehicle of car owner by the radio-frequency card read in vehicle.
For the Trajectory Tracking Control method of Vehicular automatic driving, include the following steps：
The vehicle that the reference locus and vehicle monitoring module that S1, data pre-processor are generated according to track creator detect
The error of vehicle current driving track and reference locus is calculated in driving information, while judging vehicle according to vehicle traveling information
Current driving mode, and target capabilities target function corresponding with current driving mode is obtained from track creator, and
It is transferred to upper controller；
S2, the upper controller pass through dynamics of vehicle mould according to the vehicle traveling information that vehicle monitoring module detects
Type predicts the driving status of vehicle in a period of time；
Performance index function used in the relatively upper sampling instant of S3, the upper controller and current driving mode are corresponding
Target capabilities target function, according to switching control algorithm to function parameter carry out transition switching, obtain current sample time
Performance index function；
S4, the performance index function obtained according to the driving status and step S3 of step S2 prediction, while considering that performance is wanted
Constraint condition is sought, the optimum control amount at current time is calculated, and is transferred to lower layer's controller；
S5, lower layer's controller calculate accelerator open degree, brake pedal pressure and steering wheel angle according to optimum control amount,
And vehicle running state is controlled according to calculated result；
S6, return step S1 realize real-time optimistic control.
Specifically, optimum control amount includes expected acceleration and expected front wheel angle in the step S4.
Specifically, the method that data pre-processor calculates vehicle current driving track in the step S1 includes following step
Suddenly：
S101, data storage cell is cooperated to capture same vehicle difference by being laid on the adjacent radio frequency identification unit in road surface
The instantaneous position at moment；
S102, the location information is transferred to by the data prediction by data transmission unit and data receipt unit
Device；
S103, the data pre-processor fit vehicle current driving track further according to the instantaneous position information；
Further, the position letter of whole photosensitive sensor/ultrasonic sensors is stored in the data storage cell
Breath.
Specifically, vehicle dynamic model includes longitudinal direction of car one order inertia model and laterally two takes turns certainly in the step S2
Driving model and tire model.
Specifically, lower layer's controller includes throttle/brake sub-controller and steering wheel sub-controller in the step S5.
Specifically, it is equipped with the switching logic circuit realized using hysteresis loop in the throttle/brake sub-controller, prevents
The un-reasonable phenomenon that the frequent switching and accelerator and brake of accelerator and brake act on simultaneously occurs.
Optionally, the Trajectory Tracking Control System of the Vehicular automatic driving can also be used on photovoltaic highway, directly pass through
The variation for monitoring the electric signal of single photovoltaic panel can measure the kinematic parameter of the driving vehicle on photovoltaic highway, can subtract in this way
The use of few sensor, keeps system structure simpler.
Compared with prior art, the beneficial effects of the invention are as follows：(1) present invention uses real-time optimal control algorithm (model
Predictive control algorithm), under the premise of guaranteeing real-time, it is contemplated that the constraint condition of vehicle dynamics characteristics and vehicle driving,
To improve control performance, so that Controlling model is more accurate；(2) meet vehicle driving actual conditions, merotype optimal control,
According to the different characteristics of each driving mode, different mode is realized using different performance index functions, and with corresponding handoff algorithms
Between smoothly switch；(3) present invention replaces road pavement vehicle by photosensitive sensor and ultrasonic sensor and is monitored, not only
Monitoring effect same with daytime can be reached at night, moreover it is possible to prevent sensor from damaging because working long hours, to ensure
The stability of the Vehicular automatic driving control, extends service life of the invention.
Detailed description of the invention
Fig. 1 is structural schematic block diagram of the present invention for the Trajectory Tracking Control System of Vehicular automatic driving；
Fig. 2 is schematic process flow diagram of the present invention for the Trajectory Tracking Control method of Vehicular automatic driving；
Fig. 3 is the structural schematic diagram of vehicle monitoring module in embodiment 2；
In figure：1, car-mounted device；101, track creator；102, data pre-processor；103, upper controller；104, under
Layer controller；105, data receipt unit；2, vehicle monitoring module；201, photosensitive sensor；202, ultrasonic sensor；203,
Photosensitive switch control unit；204, test the speed unit；205, radio frequency identification unit；206, data transmission unit；207, data store
Unit；208, electric signal monitoring unit；209, data processing unit.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution of the present invention is clearly and completely described, it is clear that
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, those of ordinary skill in the art's all other embodiment obtained under the conditions of not making creative work belong to
The scope of protection of the invention.
Embodiment 1
As shown in Figure 1, 2, a kind of Trajectory Tracking Control System for Vehicular automatic driving, including what is be installed in the vehicle
Car-mounted device 1 and the vehicle monitoring module 2 for being laid on road surface, the car-mounted device 1 are located in advance including track creator 101, data
Manage device 102, upper controller 103, lower layer's controller 104 and data receipt unit 105, the data pre-processor 102 it is defeated
Enter end and be separately connected the track creator 101 and data receipt unit 105, output end is sequentially connected 103 He of upper controller
Lower layer's controller 104；The vehicle monitoring module 2 includes multiple groups photosensitive sensor 201, multiple groups ultrasonic sensor 202, photosensitive
Switch control unit 203, the unit 204 that tests the speed, radio frequency identification unit 205, data storage cell 207 and data transmission unit 206；
The car-mounted device 1 and vehicle monitoring module 2 are realized wirelessly by the data transmission unit 206 and data receipt unit 105
Communication connection；The vehicle monitoring module 2 is used for the road conditions and vehicle traveling information in real-time monitoring section；The car-mounted device 1
Automatic Pilot control is carried out to vehicle according to the real-time road condition information of the vehicle monitoring module 2 detection and vehicle traveling information.
Specifically, in 201/ ultrasonic sensor 202 of multiple groups photosensitive sensor each group be all provided with there are two photosensitive biography
201/ ultrasonic sensor 202 of sensor, and the distance between 201/ ultrasonic sensor 202 of described two photosensitive sensors is solid
Fixed；201/ ultrasonic sensor 202 of photosensitive sensor is also connected with timer, starts timing when sensor-triggered；
Further, in 201/ ultrasonic sensor 202 of multiple groups photosensitive sensor each group set there are two photosensitive biography
201/ ultrasonic sensor 202 of sensor, and the distance between 201/ ultrasonic sensor 202 of described two photosensitive sensors is solid
Fixed L rice, it is assumed that the headstock of a vehicle is T1 by the time used in one group of 201/ ultrasonic sensor 202 of photosensitive sensor,
And this vehicle integrally pass through the time used in 201/ ultrasonic sensor 202 of a photosensitive sensor be T2, then can be by the survey
The instantaneous velocity that fast unit 204 is calculated when this vehicle crosses this group of 201/ ultrasonic sensor 202 of photosensitive sensor is L/
T1, length of wagon are (L/T1) * T2；
201/ ultrasonic sensor 202 of photosensitive sensor is used to road pavement vehicle and tests the speed, and to section
Traffic information is monitored, and traffic information mainly includes the information such as vehicle congestion.
Specifically, the photosensitive switch control unit 203 and the multiple groups photosensitive sensor 201, multiple groups supersonic sensing
Device 202, the unit 204 that tests the speed electrical connection replace the photosensitive biography for controlling the ultrasonic sensor 202 under no light condition
Sensor 201 works；
Under the conditions of having light (daytime), the photosensitive switch control unit 203 control the photosensitive sensor 201 with it is described
The unit 204 that tests the speed electrical connection, and disconnect being electrically connected for the ultrasonic sensor 202 and the unit 204 that tests the speed；Unglazed
Under the conditions of (night), the photosensitive switch control unit 203 controls the ultrasonic sensor 202 and the unit 204 that tests the speed
Electrical connection, and disconnect being electrically connected for the photosensitive sensor 201 and the unit 204 that tests the speed；It is controlled by the photosensitive switch
Unit 203 realizes the alternation of the photosensitive sensor 201 and ultrasonic sensor 202, can similarly realize at night
Monitoring to vehicle, while also can be reduced the burden of sensor, it avoids working long hours and damaging.
Further, the radio frequency identification unit 205 includes the radio-frequency card installed in the car and photovoltaic road surface is arranged in
Reader is stored with the identity information of car owner and the information of vehicle in the radio-frequency card, and photosensitive sensor described in every group 201/ surpasses
A reader is equipped between sonic sensor 202；
Communication connection is realized by microwave 5.8GHz frequency range between the reader and radio-frequency card, communication distance can reach 8
~30 meters, when vehicle crosses the road surface equipped with reader, the reader can recognize by reading the radio-frequency card in vehicle i.e.
The identity information of car owner and the information of vehicle.
A kind of Trajectory Tracking Control method for Vehicular automatic driving, includes the following steps：
The reference locus and vehicle monitoring module 2 that S1, data pre-processor 102 are generated according to track creator 101 detect
To vehicle traveling information the error of vehicle current driving track and reference locus is calculated, while according to vehicle traveling information
Judge the current driving mode of vehicle, and obtains target capabilities corresponding with current driving mode from track creator 101
Target function, and it is transferred to upper controller 103；
S2, the upper controller 103 pass through vehicle power according to the vehicle traveling information that vehicle monitoring module 2 detects
Learn the driving status of vehicle in model prediction for a period of time；
Performance index function and current driving mode phase used in the relatively upper sampling instant of S3, the upper controller 103
Corresponding target capabilities target function carries out transition switching to function parameter according to switching control algorithm, when obtaining present sample
The performance index function at quarter；
S4, the performance index function obtained according to the driving status and step S3 of step S2 prediction, while considering that performance is wanted
Constraint condition is sought, the optimum control amount at current time is calculated, and is transferred to lower layer's controller 104；
S5, lower layer's controller 104 calculate accelerator open degree, brake pedal pressure and steering wheel according to optimum control amount and turn
Angle, and vehicle running state is controlled according to calculated result；
S6, return step S1 realize real-time optimistic control.
Specifically, optimum control amount includes expected acceleration and expected front wheel angle in the step S4.
Specifically, the method that data pre-processor 102 calculates vehicle current driving track in the step S1 includes following
Step：
S101, data storage cell 207 is cooperated to capture with for the moment by being laid on the adjacent radio frequency identification unit 205 in road surface
Carve the instantaneous position of different vehicle；
S102, the location information is transferred to by the data by data transmission unit 206 and data receipt unit 105
Preprocessor 102；
S103, the data pre-processor 102 fit vehicle current driving track further according to the location information；
Further, whole 201/ ultrasonic sensors 202 of photosensitive sensor are stored in the data storage cell 207
Location information.
Specifically, vehicle dynamic model includes longitudinal direction of car one order inertia model and laterally two takes turns certainly in the step S2
Driving model and tire model.
Specifically, lower layer's controller 104 includes that throttle/brake sub-controller and direction plate control in the step S5
Device.
Specifically, it is equipped with the switching logic circuit realized using hysteresis loop in the throttle/brake sub-controller, prevents
The un-reasonable phenomenon that the frequent switching and accelerator and brake of accelerator and brake act on simultaneously occurs.
Embodiment 2
As shown in figure 3, present embodiments providing a kind of track following control of Vehicular automatic driving applied to photovoltaic highway
System processed, the difference with above-described embodiment 1 be, in the present embodiment vehicle monitoring module 2 include electric signal monitoring unit 208,
Ultrasonic sensor 202, photosensitive switch control unit 203, radio frequency identification unit 205, data processing unit 209 and data hair
Unit 206 is sent, the configuration of vehicle monitoring module 2 is used for real-time monitoring Vehicle Speed in the photovoltaic panel of photovoltaic highway；
In the preferable situation of light intensity, the photosensitive switch control unit 203 controls the electric signal monitoring unit
208 are electrically connected with the data processing unit 209, data transmission unit 206, and disconnect the ultrasonic sensor 202 and institute
State the electrical connection of data processing unit 209, data transmission unit 206；The present embodiment passes through 2 monitoring car of vehicle monitoring module
When by one piece of photovoltaic panel, the change in electric of the photovoltaic panel and the duration of change in electric, the data processing
Unit 209 to monitoring data carry out calculation process, according to monitor single photovoltaic panel power on signal variation duration and
The both ends distance computation of the single photovoltaic panel obtains the travel speed of vehicle；In the case where light intensity is weaker, the light
Quick switch control unit 203 controls the ultrasonic sensor 202 and the data processing unit 209, data transmission unit 206
Electrical connection, and disconnect the electric signal monitoring unit 208 and the data processing unit 209, data transmission unit 206 is electrically connected
It connects；The friendship of the electric signal monitoring unit 208 and ultrasonic sensor 202 is realized by the photosensitive switch control unit 203
Temporary substitute is made, and can similarly realize the monitoring to vehicle at night, while also can be reduced the ultrasonic sensor 202 and telecommunications
The burden of number monitoring unit 208, avoids working long hours and damaging.
Specifically, data processing unit 209 includes estimator, described when vehicle drives through in one piece of photovoltaic panel
Estimator is configured as the spacing of the duration and the photovoltaic board ends that change based on the photovoltaic panel power on signal come really
Determine the travel speed of vehicle.
Specifically, the electric signal monitoring unit 208 is used to monitor voltage, electric current, power, the electricity etc. in photovoltaic panel；
Further, when vehicle drives through in one piece of photovoltaic panel, the estimator is configured as based on the light
The spacing of duration and the photovoltaic board ends that plate power on signal changes are lied prostrate to determine the travel speed of vehicle.Actually answering
In, the photovoltaic panel is crystal silicon solar plate, having a size of 2000*1000*35mm, rated power 180W, transfer efficiency
It is 80%, the both ends center of photovoltaic panel is equipped with terminal A, B, the distance L=2000mm of terminal A to terminal B, when no vehicle row
When sailing by the photovoltaic panel, output power W1=W* η=180*80%=140W of the photovoltaic panel, when there is vehicle driving warp
When crossing the photovoltaic panel, the front part of vehicle passes through terminal A, and the output power W1 starts to gradually decrease, until the vehicle
Front reaches terminal B, and the output power bottoms out W2, at this point, the photovoltaic panel is sheltered from completely by vehicle, it can not
The direct irradiation of light is obtained, but the indirect illumination of the acquisitions such as reflection, scattering of the light being radiated on adjacent photovoltaic plate can be passed through
It penetrates, and then is converted to lower output power, W2 is defined as W2=W1*10%=14W, the vehicle monitoring module here
It is 0.12S that 2 monitorings, which obtain the output power from the time that W1 drops to W2, keeps the output power in W2 ever since, directly
Terminal A is left to vehicle tail traveling, the output power starts to gradually rise, until W1, the vehicle tail at this time
Traveling leaves terminal B, and the output power is that 0.12S is calculated according to speed formula v=L/t from the time that W2 is increased to W1
Instantaneous travel speed v=60KM/h when passing through the photovoltaic panel to vehicle.
The present embodiment is suitable for the Trajectory Tracking Control method of Vehicular automatic driving on photovoltaic highway, is originally the light in example
Volt plate had not only been used for photovoltaic power generation but also as road surface for vehicle driving, was also used to monitor the driving status of road vehicles, and then cooperate
Vehicle carries out automatic Pilot control, keeps the function of photovoltaic panel more diversified.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. being used for the Trajectory Tracking Control System of Vehicular automatic driving, which is characterized in that including the vehicle-mounted dress being installed in the vehicle
The vehicle monitoring module (2) set (1) and be laid on road surface, the car-mounted device (1) include that track creator (101), data are pre-
Processor (102), upper controller (103), lower layer's controller (104) and data receipt unit (105), the data prediction
The input terminal of device (102) is separately connected the track creator (101) and data receipt unit (105), and output end is sequentially connected
Upper controller (103) and lower layer's controller (104)；The vehicle monitoring module (2) for real-time monitoring section road conditions and
Vehicle traveling information；The real-time road condition information and vehicle row that the car-mounted device (1) is detected according to the vehicle monitoring module (2)
It sails information and automatic Pilot control is carried out to vehicle.
2. the Trajectory Tracking Control System according to claim 1 for Vehicular automatic driving, which is characterized in that the vehicle
Monitoring modular (2) includes that multiple groups photosensitive sensor (201) and/or multiple groups ultrasonic sensor (202), photosensitive switch control are single
First (203), the unit that tests the speed (204), radio frequency identification unit (205), data storage cell (207) and data transmission unit (206)；
The car-mounted device (1) and vehicle monitoring module (2) pass through the data transmission unit (206) and data receipt unit (105)
Realize wireless telecommunications connection.
3. the Trajectory Tracking Control System according to claim 2 for Vehicular automatic driving, which is characterized in that described more
Group photosensitive sensor (201)/ultrasonic sensor (202) in each group be all provided with there are two photosensitive sensor (201)/ultrasonic wave pass
Sensor (202), and the distance between described two photosensitive sensors (201)/ultrasonic sensor (202) is fixed.
4. the Trajectory Tracking Control System according to claim 2 for Vehicular automatic driving, which is characterized in that the light
Quick switch control unit (203) and the multiple groups photosensitive sensor (201), multiple groups ultrasonic sensor (202), test the speed unit
(204) it is electrically connected, replaces the photosensitive sensor (201) under no light condition for controlling the ultrasonic sensor (202)
Work.
5. the Trajectory Tracking Control System according to claim 2 for Vehicular automatic driving, which is characterized in that described to penetrate
Frequency recognition unit (205) includes the radio-frequency card installed in the car and the reader that road surface is arranged in, and is stored in the radio-frequency card
The identity information of car owner and the information of vehicle, photosensitive sensor described in every group (201)/ultrasonic sensor are all provided between (202)
There is the reader.
6. being used for the Trajectory Tracking Control method of Vehicular automatic driving, which is characterized in that include the following steps：
The reference locus and vehicle monitoring module (2) that S1, data pre-processor (102) are generated according to track creator (101) are examined
The error of vehicle current driving track and reference locus is calculated in the vehicle traveling information measured, while being believed according to vehicle driving
Breath judges the current driving mode of vehicle, and target corresponding with current driving mode is obtained from track creator (101)
Performance index function, and it is transferred to upper controller (103)；
S2, the upper controller (103) pass through vehicle power according to the vehicle traveling information that vehicle monitoring module (2) detects
Learn the driving status of vehicle in model prediction for a period of time；
Performance index function used in the relatively upper sampling instant of S3, the upper controller (103) and current driving mode are opposite
The target capabilities target function answered carries out transition switching to function parameter according to switching control algorithm, obtains current sample time
Performance index function；
S4, the performance index function obtained according to the driving status and step S3 of step S2 prediction, while considering performance requirement about
Beam condition, calculates the optimum control amount at current time, and is transferred to lower layer's controller (104)；
S5, lower layer's controller (104) calculate accelerator open degree, brake pedal pressure and steering wheel according to optimum control amount and turn
Angle, and vehicle running state is controlled according to calculated result；
S6, return step S1 realize real-time optimistic control.
7. the Trajectory Tracking Control method according to claim 5 for Vehicular automatic driving, which is characterized in that the step
The method that data pre-processor (102) calculates vehicle current driving track in rapid S1 includes the following steps：
S101, same vehicle is captured by being laid on the adjacent radio frequency identification unit in road surface (205) cooperation data storage cell (207)
The instantaneous position of different moments；
S102, the location information is transferred to by the data by data transmission unit (206) and data receipt unit (105)
Preprocessor (102)；
S103, the data pre-processor (102) fit vehicle current driving track further according to the location information.
8. the Trajectory Tracking Control method according to claim 5 for Vehicular automatic driving, which is characterized in that the step
Vehicle dynamic model includes longitudinal direction of car one order inertia model and lateral two wheel bicycle models and tire model in rapid S2.
9. the Trajectory Tracking Control method according to claim 5 for Vehicular automatic driving, which is characterized in that the step
Lower layer's controller (104) includes throttle/brake sub-controller and steering wheel sub-controller in rapid S5.
10. the Trajectory Tracking Control method according to claim 8 for Vehicular automatic driving, which is characterized in that described
The switching logic circuit realized using hysteresis loop is equipped in throttle/brake sub-controller.
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