The invention discloses an LQG intelligent driving transverse control method and device with an integral link, and relates to the technical field of automobile intelligent driving, and the method comprises the steps: building a vehicle transverse dynamic model based on vehicle information, expanding an error integral term of vehicle transverse control, and building a vehicle transverse dynamic model with an error integral term; a Kalman filter is designed according to the established vehicle transverse dynamics model with the error integral term, and state quantity estimation is carried out; designing an LQR feedback controller and constructing a cost function according to the established vehicle transverse dynamics model with the error integral term, and calculating to obtain an optimal feedback control law of the LQR; and calculating the transverse target control quantity of the vehicle based on the state quantity estimated by the Kalman filter and the calculated optimal feedback control law of the LQR. According to the method, the comfort of vehicle control is improved, and the robustness is higher.
本发明公开了一种带积分环节的LQG智能驾驶横向控制方法及装置,涉及汽车智能驾驶技术领域,该方法包括基于车辆信息建立车辆横向动力学模型,并扩展车辆横向控制的误差积分项,建立带误差积分项的车辆横向动力学模型;根据建立的带误差积分项的车辆横向动力学模型,设计卡尔曼滤波器,进行状态量的估计;根据建立的带误差积分项的车辆横向动力学模型,设计LQR反馈控制器并构造代价函数,计算得到LQR的最优反馈控制律;基于卡尔曼滤波器估计得到的状态量,以及计算得到的LQR的最优反馈控制律,计算得到车辆横向目标控制量。本发明不仅提高车辆控制的舒适性,而且鲁棒性更强。
LQG intelligent driving transverse control method and device with integration link
一种带积分环节的LQG智能驾驶横向控制方法及装置
2023-03-14
Patent
Elektronische Ressource
Chinesisch
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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