Reversing tracking control method and system based on trajectory tracking
Reversing tracking control method and system based on trajectory tracking
- New search for: LYU YINGCHAO
- New search for: LYU RONGHUA
- New search for: LYU YINGCHAO
- New search for: LYU RONGHUA
The invention discloses a back-up tracking control method and system based on trajectory tracking. The method comprises a forward trajectory storage stage and a back-up tracking stage. The forward trajectory storage stage comprises the following steps: acquiring vehicle attitude coordinates and mileage in real time; storing vehicle position coordinates; the reversing tracking stage comprises the following steps: calculating the total tracking mileage; determining a final tracking mileage; tracking the remaining driving mileage; acquiring an initial target trajectory point; determining a final target track point; calculating a steering wheel angle control value; judging whether the remaining mileage is smaller than a preset distance, and if yes, ending the backing tracking; if not, the posture coordinates and the driving mileage of the vehicle are obtained in real time, the remaining driving mileage is calculated according to the driving mileage and the final tracking mileage, and the remaining driving mileage is tracked. According to the invention, closed-loop trajectory tracking during backing tracking can be realized by storing the attitude coordinates of the vehicle running in the forward direction, and the problem of deviation from the trajectory of the vehicle running in the forward direction during backing can be avoided.
本发明公开一种基于轨迹跟踪的倒车循迹控制方法及系统，包括：正向轨迹存储阶段和倒车循迹阶段；正向轨迹存储阶段包括：实时获取车辆姿态坐标和行驶里程；存储车辆位置坐标；倒车循迹阶段包括：计算循迹总里程；确定最终循迹里程；循迹剩余行驶里程；获取初始目标轨迹点；确定最终目标轨迹点；计算方向盘转角控制值；判断剩余行驶里程是否小于预设距离，若是，结束倒车循迹；若否，实时获取车辆姿态坐标和行驶里程，根据行驶里程和最终循迹里程计算剩余行驶里程，并循迹剩余行驶里程。本发明通过存储正向行驶的车辆姿态坐标即可实现倒车循迹时的闭环轨迹跟踪，可以避免倒车时与正向行驶的轨迹发生偏差的问题。
Document information
Reversing tracking control method and system based on trajectory tracking
一种基于轨迹跟踪的倒车循迹控制方法及系统
2024-03-01
Patent
Electronic Resource
Chinese
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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