Automatic driving control based on time delay dynamic predictions

被引：0

作者：

Zhao J. ^{[1
]}

Gao H. ^{[2
]}

Zhang X. ^{[3
]}

Zhang Y. ^{[4
]}

机构：

[1] Department of Computer Science and Technology, Tsinghua University, Beijing

[2] State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing

[3] Information Technology Center, Tsinghua University, Beijing

[4] State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha

来源：

Qinghua Daxue Xuebao/Journal of Tsinghua University | 2018年 / 58卷 / 04期

关键词：

Complex traffic environment; Intelligent driving; On-board camera;

D O I：

10.16511/j.cnki.qhdxxb.2018.21.011

中图分类号：

学科分类号：

摘要：

Signal delays, limited frontal view distances and other factors during self-driving limit the ability of self-driving cars to accurately track their planning trajectory. A simplified bicycle model was used to optimize a classical pure tracking model in an automatic driving control method based on dynamic delay prediction. A vehicle kinematics model is used to predict the vehicle motion direction and position after the delay. The optimal front sight distance is obtained according to difference between driving the actual direction and the tracking direction. MATLAB simulations show that this algorithm can track the planning trajectory at a maximum speed of 7 m/s with the average error controlled to within 0.3 m. Thus, the tracking performance is better than the traditional pure pursuit method. © 2018, Tsinghua University Press. All right reserved.

引用

页码：432 / 437

页数：5

共 17 条

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