自动驾驶车辆轨迹跟踪控制算法研究

Research on Trajectory Tracking Control Algorithm for Autonomous Driving Vehicles

在智能车辆的自动驾驶系统中,需要采用合适的控制算法,控制自动驾驶车辆沿预先规划的轨迹运行。本文基于车辆的运动学模型,分析了自动驾驶车辆轨迹跟踪控制的纯跟踪算法(Pure Pursuit)。通过纯跟踪算法控制车辆后轮的运动轨迹,实现了调整车辆当前位置与规划轨迹之间的偏差,从而使车辆达到了跟踪预设轨迹的效果。并且分析了车辆跟踪过程中,速度调节系数对跟踪效果的影响,验证了纯跟踪算法的有效性与精确性。

In the automatic driving system of intelligent vehicle,it is necessary to adopt appropriate control algorithm to control the automatic driving vehicle along the pre-planned trajectory line.Based on the vehicle kinematics model,this paper analyzes Pure Pursuit algorithm for trajectory tracking control of autonomous vehicle.By using the Pure Pursuit algorithm for trajectory tracking control of autonomous vehicle.By using the Pure Pursuit algorithm to control the trajectory of the rear wheel of the vehicle,the deviation between the current position of the vehicle and the planned trajectory can be adjusted,so that the vehicle can track the preset trajectory.In addition,the influence of the speed adjustment coefficient on the tracking effect in the process of vehicle tracking is analyzed,and the effectiveness and accuracy of the Pure Pursuit algorithm are verified.