Research On Path Planning And Tracking Control Of Autonomous Electric Race Car

With the development of the automobile industry,automobiles have gradually become popular and have become a very common means of transportation.The substantial increase in the number of automobiles has facilitated people's lives,but brought about traffic safety issues.Autonomous technologies can improve the safety of automobiles on the road,solve traffic safety problems,and gradually become one of the key research technologies in the automotive field.Autonomous technologies mainly include environmental perception,path planning and tracking control.This thesis researches the path planning and tracking control methods of the autonomous electric formula race car,aiming to achieve safe driving and improve the driving performance of the car.The project conducts research based on the autonomous formula race car development platform.The research content is mainly divided into four parts:(1)Research on the localization and mapping methods of autonomous electric race car.In this method,the localization of the race car is obtained by combining inertial navigation,the position data of the cone bucket in the lidar coordinate system is obtained by Processing lidar data,and the position of the cone bucket in the global coordinate system is obtained by combining the position of the race car and the position data of the cone bucket in the lidar coordinate system,thereby establishing the track map.Simulation results show that this method can effectively realize the functions of car localization and circuit map establishment.(2)Research on the path planning method of autonomous electric race car.Acquire and process sensor data such as combined inertial navigation,lidar and camera in real time.different path planning methods are adopted for different driving tracks(linear acceleration track,sprinting track and high-speed track)to realize the path planning of the car Features.Simulation results show that the algorithm can effectively implement the path planning function of the car on the corresponding track.(3)Research on the path tracking control method of autonomous electric race car.In order to realize the function that the car can track the planned path,this paper uses the principle of the lateral control algorithm based on the vehicle kinematics model to design the car's tracking control algorithm and conducts simulation experiments.The results show that the algorithm can well achieve the purpose of tracking the path.The tracking error is small,and it can meet the path tracking requirements of the car at low and medium speeds.(4)Real car experiment.In order to verify the effectiveness of the algorithm,actual car experiments were performed on the researched localization and mapping algorithms,path planning algorithms,and path tracking algorithms.The autonomous electric race car applying these algorithms participated in FSAC events.The actual car experiments and the course of the race show that the algorithm studied in this paper can well achieve the functions of car positioning,path planning and tracking control on the track.The method studied in this thesis has good feasibility and practicability for path planning and tracking control of autonomous electric race car.The results of simulation experiments and real vehicle experiments show that the algorithm researched in this paper can make the autonomous race car run safely and smoothly to complete the race.The autonomous electric race car applying these algorithms has achieved excellent results in the Chinese University Student Autonomous Formula Competition 2019.