CN109515440A - A kind of variable weight multipoint preview trace tracking method based on speed - Google Patents
A kind of variable weight multipoint preview trace tracking method based on speed Download PDFInfo
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- CN109515440A CN109515440A CN201811361256.XA CN201811361256A CN109515440A CN 109515440 A CN109515440 A CN 109515440A CN 201811361256 A CN201811361256 A CN 201811361256A CN 109515440 A CN109515440 A CN 109515440A
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- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000005484 gravity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of variable weight multipoint preview trace tracking method based on speed, the present invention is by being equally divided at 3 points for best preview distance and longest preview distance, not only Single-point preview is extended for multipoint preview, also multiple pre- preview distances taken aim at a little are weighted on the basis of fixed weight multipoint preview.This method reduces the lateral deviation generated in vehicle traveling process, allows to preferably track destination path, ensure that the operating condition downward driving that automobile can be changeable in path circumstances；Tracking is carried out to real-time route by variable weight and reduces the fluctuation under multi-state so as to improve the comfort of passenger, so that it is safer to ride in an automobile.
Description
Technical field
The invention belongs to track following fields, and in particular to a kind of variable weight multipoint preview track following side based on speed
Method.
Background technique
Preview control theory, that is, drive simulating person drives to take aim at behavior in advance, carries out path trace according to the Future Information of input
System performance compensates for influence of the time lag factor to control performance, can preferably realize that automobile follows Estimative path
Function.
Single-point preview sets one in the front apart from automobile and takes aim in advance as a kind of initial preview control method
Point, by controlling its deviation between Estimative path, but this method is held in the case where road condition change complexity
It is also easy to produce large error.
In order to avoid there is this problem, it is theoretical to introduce multipoint preview.Will be original one takes aim at that increase be multiple in advance
It takes aim at a little in advance, more precise control can be carried out to track following in this way.
But each of multipoint preview pre- takes aim at because its different location for being in vehicle front makes it take aim at institute in mechanism in advance
The specific gravity accounted for difference.
Summary of the invention
The purpose of the present invention is to overcome the above shortcomings and to provide a kind of variable weight multipoint preview track following based on speed
Method reduces the error of its generation, improves the accuracy of track following for accurately handling various road conditions.
In order to achieve the above object, the present invention the following steps are included:
Step 1, it is theoretical based on preview control, set different pre- take aim at a little；
Step 2 calculates each pre- lateral deviation taken aim at a little under same speed, obtain multipoint preview each point take aim in advance away from
From；
Step 3, the minimum lateral deviation under more different speeds, selects corresponding best preview distance under each speed；
Preview distance range in best preview distance is equally divided at 3 points by step 4；
Step 5, each point preview distance taken aim in advance according to 3 points, obtains the relationship of preview distance gain and speed, thus really
Determine multipoint preview Controlling model formula.
In step 1, when taking aim at setting a little in advance, it is first determined take aim at a little at the front of vehicle traveling direction, then exist in advance
It centainly takes aim on time basis in advance, changes preview distance and carry out track following, obtain different pre- take aim at a little.
In step 3, according to each point preview distance of multipoint preview, lists and estimate track ordinate FtIt is same with track is taken aim in advance
The ordinate f at momentt, obtain lateral deviation d, d=Ft-ft。
In step 5, the relationship of preview distance gain and speed is as follows:
k1=0.8-k3
k2=0.2
Wherein, k1、k2And k33 preview distance weight coefficients respectively immediately ahead of automobile from the near to the distant, v work as automobile
Preceding speed.
In step 5, multipoint preview Controlling model formula is as follows:
E=k1×a+k2×b+k3×c
Wherein, e is corresponding real-time preview distance, and a, b and c are respectively that 3 points pre- is taken aim at from the near to the distant immediately ahead of automobile
Distance.
Compared with prior art, the present invention is by being equally divided at 3 points for best preview distance and longest preview distance, no
Only Single-point preview is extended for multipoint preview, also on the basis of fixed weight multipoint preview to it is multiple it is pre- take aim at a little it is pre- take aim at away from
From being weighted.This method reduces the lateral deviation generated in vehicle traveling process, allows to preferably track target
Path ensure that the operating condition downward driving that automobile can be changeable in path circumstances；Tracking is carried out to real-time route by variable weight to subtract
Fluctuation under small multi-state so as to improve passenger comfort so that it is safer to ride in an automobile.
Detailed description of the invention
Fig. 1 is track following preview control schematic diagram in the present invention；
Fig. 2 is flow chart of the invention；
Fig. 3 is preview distance lateral deviation comparison diagrams different under 20km/h speed in the embodiment of the present invention；
Fig. 4 is different preview distances track comparison diagram under 20km/h speed in the embodiment of the present invention；
Fig. 5 is preview distance lateral deviation comparison diagrams different under 80km/h speed in the embodiment of the present invention；
Fig. 6 is different preview distances track comparison diagram under 80km/h speed in the embodiment of the present invention；
Fig. 7 is that difference takes aim at method lateral deviation comparison diagram in advance under 20km/h speed in the embodiment of the present invention；
Fig. 8 is that difference takes aim at method track comparison diagram in advance under 20km/h speed in the embodiment of the present invention；
Fig. 9 is that difference takes aim at method lateral deviation comparison diagram in advance under 80km/h speed in the embodiment of the present invention；
Figure 10 is that difference takes aim at method track comparison diagram in advance under 80km/h speed in the embodiment of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
Embodiment:
Referring to Fig. 1 and Fig. 2, the present invention the following steps are included:
The first step first puts up track following and takes aim at model in advance, and automobile is made to may be implemented what track followed according to Fig. 1
Function.Calculate arbitrarily to take aim at a little corresponding lateral deviation again in advance, taking aim at strategy in advance due to track following is mainly that automobile follows expectation
It, is constantly reduced the actual travel path tracking performance for improving automobile by path, i.e. control lateral deviation amount.Therefore, side is taken aim in advance
It has to find out to deviation.
Second step, according to Fig. 3, test is obtained under conditions of speed is 20km/h, the side of preview distance 4m, 8m, 14m
To deviation.It is 8m that the smallest preview distance of lateral deviation under the speed can be obtained by comparing.Lateral deviation is most as seen from Figure 4
Track corresponding to small 8m preview distance is closer to expected path.
According to Fig. 5, test is obtained under 80km/h speed, the lateral deviation value of preview distance 14m, 20m, 26m.Pass through ratio
It is 20m compared with the smallest preview distance of lateral deviation lateral deviation under the speed can be obtained.
Referring to Fig. 6, test obtains track corresponding to the preview distance of 20m closer to expected path.
It, can be laterally inclined according to above-mentioned each speed when 3 points of selection is taken aim in advance in speed between 20km/h to 80km/h
The smallest preview distance of difference, is evenly distributing, can obtain each point preview distance that take aim in advance at 3 points is respectively 7m, 14m, 20m, by right
3 points of each point preview distances taken aim in advance carry out gain, are tested to obtain the track when three dot gains are following formula, under each speed
Follow situation more accurate.
k1=0.8-k3
k2=0.2
Wherein, k1、k2And k33 preview distance weight coefficients respectively immediately ahead of automobile from the near to the distant, v work as automobile
Preceding speed.
Third step obtains multipoint preview Controlling model method are as follows:
E=k1×a+k2×b+k3×c
Wherein, e is corresponding real-time preview distance, and a, b and c are respectively that 3 points pre- is taken aim at from the near to the distant immediately ahead of automobile
Distance.
Then by the Single-point preview that is 14m to preview distance, determine that weight is taken aim in advance and variable weight is taken aim at be compared in advance
Referring to figs. 7 and 8, test is obtained when speed is 20km/h, and it is pre- to be less than single-point using multipoint preview lateral deviation
Take aim at lateral deviation；Fixed weight multipoint preview lateral deviation is less than using variable weight multipoint preview lateral deviation.Determine weight multiple spot
Than Single-point preview closer to expected path, the track of variable weight multipoint preview is more closer than determining weight multipoint preview for the track taken aim in advance
Expected path.
Referring to Fig. 9 and Figure 10, test is obtained when speed is 80km/h, and it is pre- to be less than single-point using multipoint preview lateral deviation
Take aim at lateral deviation；Fixed weight multipoint preview lateral deviation is less than using variable weight multipoint preview lateral deviation.Determine weight multiple spot
Than Single-point preview closer to expected path, the track of variable weight multipoint preview is more closer than determining weight multipoint preview for the track taken aim in advance
Expected path.
Therefore, the variable weight multipoint preview trace tracking method based on speed is more superior, and realizing route follows more smart
Really.
Claims (5)
1. a kind of variable weight multipoint preview trace tracking method based on speed, which comprises the following steps:
Step 1, it is theoretical based on preview control, set different pre- take aim at a little；
Step 2 calculates each pre- lateral deviation taken aim at a little, obtains each point preview distance of multipoint preview under same speed；
Step 3, the minimum lateral deviation under more different speeds, selects corresponding best preview distance under each speed；
Preview distance range in best preview distance is equally divided at 3 points by step 4；
Step 5, each point preview distance taken aim in advance according to 3 points, obtains the relationship of preview distance gain and speed, so that it is determined that more
Point preview control model formation.
2. a kind of variable weight multipoint preview trace tracking method based on speed according to claim 1, which is characterized in that
In step 1, when taking aim at setting a little in advance, it is first determined take aim at a little at the front of vehicle traveling direction, then centainly taking aim in advance in advance
On time basis, change preview distance and carry out track following, obtains different pre- take aim at a little.
3. a kind of variable weight multipoint preview trace tracking method based on speed according to claim 1, which is characterized in that
In step 3, according to each point preview distance of multipoint preview, lists and estimate track ordinate FtWith take aim at track in the same time vertical in advance
Coordinate ft, obtain lateral deviation d, d=Ft-ft。
4. a kind of variable weight multipoint preview trace tracking method based on speed according to claim 1, which is characterized in that
In step 5, the relationship of preview distance gain and speed is as follows:
k1=0.8-k3
k2=0.2
Wherein, k1、k2And k33 preview distance weight coefficients respectively immediately ahead of automobile from the near to the distant, v are that automobile works as front truck
Speed.
5. a kind of variable weight multipoint preview trace tracking method based on speed according to claim 1, which is characterized in that
In step 5, multipoint preview Controlling model formula is as follows:
E=k1×a+k2×b+k3×c
Wherein, e is corresponding real-time preview distance, a, b and c be respectively immediately ahead of automobile from the near to the distant 3 points pre- take aim at away from
From.
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Cited By (6)
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|---|---|---|---|---|
| CN110001637A (en) * | 2019-04-10 | 2019-07-12 | 吉林大学 | A kind of pilotless automobile path following control device and control method based on multiple spot tracking |
| CN110471428A (en) * | 2019-09-18 | 2019-11-19 | 吉林大学 | A kind of path following method of change preview distance and constraint of velocity based on model |
| CN112965498A (en) * | 2021-02-23 | 2021-06-15 | 上海电机学院 | Intelligent sweeping machine running track tracking control method |
| CN113492907A (en) * | 2020-04-03 | 2021-10-12 | 郑州宇通客车股份有限公司 | Lane keeping method and system based on multipoint preview |
| CN113552888A (en) * | 2021-07-29 | 2021-10-26 | 中国第一汽车股份有限公司 | Driving track control method, device, equipment and medium applied to unmanned vehicle |
| CN113844535A (en) * | 2021-09-29 | 2021-12-28 | 安徽江淮汽车集团股份有限公司 | Active steering control method based on steering wheel torque |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112965498A (en) * | 2021-02-23 | 2021-06-15 | 上海电机学院 | Intelligent sweeping machine running track tracking control method |
| CN113552888A (en) * | 2021-07-29 | 2021-10-26 | 中国第一汽车股份有限公司 | Driving track control method, device, equipment and medium applied to unmanned vehicle |
| CN113552888B (en) * | 2021-07-29 | 2022-07-19 | 中国第一汽车股份有限公司 | Driving track control method, device, equipment and medium applied to unmanned vehicle |
| CN113844535A (en) * | 2021-09-29 | 2021-12-28 | 安徽江淮汽车集团股份有限公司 | Active steering control method based on steering wheel torque |
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Application publication date: 20190326 |