The invention discloses an automatic driving vehicle transverse control method for a complex road environment, and the method comprises the steps: constructing an error state space equation according to a constructed linear two-degree-of-freedom vehicle model and a preset reference path, and calculating the state quantity of a vehicle according to the reference path; determining a feedback front wheel rotation angle according to a linear quadratic regulator theory, the error state-space equation and the state quantity; and according to the feedback front wheel turning angle and the error state space equation, a curvature feed-forward turning angle and a cross slope feed-forward turning angle are determined, according to the feedback front wheel turning angle, the curvature feed-forward turning angle and the cross slope feed-forward turning angle, a target front wheel turning angle of the vehicle is determined, and the vehicle is controlled to turn by adopting the target front wheel turning angle. According to the method, the proper target front wheel turning angle can be determined for the vehicle running on the complex road, and the vehicle is controlled to turn by adopting the target front wheel turning angle, so that the vehicle can safely pass through the complex road while accurately tracking the set reference path.
本发明公开了一种面向复杂道路环境的自动驾驶车辆横向控制方法,其中,方法包括:根据构建好的线性二自由度车辆模型以及预设的参考路径,构建误差状态空间方程,并根据参考路径,计算车辆的状态量;根据线性二次型调节器理论、误差状态空间方程以及状态量,确定反馈前轮转角;根据反馈前轮转角以及误差状态空间方程,确定曲率前馈转角以及横坡前馈转角,并根据反馈前轮转角、曲率前馈转角以及横坡前馈转角,确定车辆的目标前轮转角,控制车辆采用目标前轮转角进行转向。本发明能对行驶在复杂道路的车辆,确定合适的目标前轮转角,并控制车辆采用目标前轮转角进行转向,以使得车辆准确地跟踪既定参考路径同时,安全通过复杂道路。
Automatic driving vehicle transverse control method for complex road environment
一种面向复杂道路环境的自动驾驶车辆横向控制方法
09.05.2023
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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