The invention discloses a vehicle transverse control method based on a feed-forward LQR, which solves the defects in the prior art and comprises the following steps: step 1, obtaining a feedback control gain of a vehicle through an LQR algorithm; 2, according to the position and the state of the vehicle and the planning track point, obtaining the transverse error of the real position of the vehicle; 3, a self-correction method is used, and feedforward control of the vehicle is obtained according to feedback control gain, the transverse error of the real position of the vehicle and parameters of the whole vehicle; and 4, obtaining a final control instruction, and controlling the transverse direction of the vehicle.
本发明公开了一种基于前馈LQR的车辆横向控制方法,解决了现有技术的不足,包括以下步骤:步骤1,通过LQR算法得到车辆的反馈控制增益;步骤2,根据车辆位置与状态和规划轨迹点,得出车辆真实位置的横向误差;步骤3,使用自修正方法,根据反馈控制增益、车辆真实位置的横向误差、整车的参数求出车辆的前馈控制;步骤4,得出最终控制指令,对于车辆横向进行控制。
Vehicle transverse control method based on feedforward LQR
一种基于前馈LQR的车辆横向控制方法
2024-02-13
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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