The invention relates to the technical field of automatic driving vehicle control, in particular to a transverse control method for an automatic driving vehicle, which comprises the following steps of: determining lane center line information by acquiring vehicle state information and lane line information, and determining a vehicle error variable based on the vehicle state information and the lane center line information; and determining an expected steering wheel angle of the vehicle according to the error variable so as to transversely control the vehicle. According to the method, an offline table look-up mode is adopted, LQR feedback gain coefficients at different speeds are directly obtained from a vehicle speed feedback gain coefficient table through a table look-up method, a feedback front wheel steering angle is determined through the LQR feedback gain coefficients and error variables, and a self-adaptive feed-forward controller is adopted to determine a feed-forward front wheel steering angle. The expected steering wheel rotation angle is solved through the feedforward front wheel rotation angle and the feedback front wheel rotation angle, transverse control over the vehicle is achieved, high tracking precision is achieved, and compared with a traditional control algorithm, the calculation speed is increased.
本发明涉及自动驾驶车辆控制技术领域,具体涉及一种用于自动驾驶车辆的横向控制方法,通过获取车辆状态信息和车道线信息,确定车道中心线信息,并基于车辆状态信息和车道中心线信息,确定车辆误差变量,根据误差变量确定车辆期望方向盘转角,进而对车辆进行横向控制。本发明中采用了离线查表的方式,通过查表法直接从车速反馈增益系数表得到不同速度下的LQR反馈增益系数,由LQR反馈增益系数和误差变量确定反馈前轮转角,采用自适应前馈控制器确定前馈前轮转角,通过前馈前轮转角和反馈前轮转角进而求出期望方向盘转角,实现车辆的横向控制,具有较高的跟踪精度,且相比于传统控制算法,计算速度得到了提高。
Lateral control method for autonomous vehicle
一种用于自动驾驶车辆的横向控制方法
2024-01-30
Patent
Elektronische Ressource
Chinesisch
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