基于运动学和动力学模型的无人驾驶路径跟踪控制器设计

Design of Autonomous Vehicle Path Tracking Controller Based on Kinematic and Dynamic Model

设计了一种应用于无人驾驶控制的基于车辆运动学和动力学模型的路径跟踪控制器,包括运动学和动力学模型、路径跟踪控制模型、地图匹配模型和执行命令融合模型,使用实时车辆姿态信息进行转向角度预测,使用实时车辆定位信息进行反馈控制以消除系统干扰和模型误差。系统硬件包括车辆平台、嵌入式Mbed开发平台、Ubuntu系统运行平台和惯性导航系统,软件框架使用robotic operation system(ROS),使用rosserial服务连接嵌入式Mbed开发板与ROS。实车测试表明控制器系统达到设计目的。

A path tracking controller was designed for self-driving based on vehicle kinematic and dynamic model,which included kinematic and dynamic model,path tracking control model,map matching model and execution command fusion model.The real-time vehicle information was used for predicting the steering angle,and the real-time vehicle positioning information was used for feedback control to eliminate system interference and model errors.The hardware of this system was composed of vehicle platform,embedded Mbed development platform,Ubuntu system operation platform and inertial navigation system?Robotic operation system(ROS)was used for software framework,the embedded Mbed development board and ROS were connected with rosserial service.The actual vehicle test shows that the controller achieves the design goal.