The invention provides an automatic driving vehicle transverse control method, which comprises the following steps of: 1, calculating track projection points according to the current position of a vehicle and a planned track, and constructing a track projection point coordinate system; 2, converting the planned trajectory into a trajectory projection point coordinate system; 3, calculating a transverse control error according to the current position and the track projection point of the vehicle; step 4, calculating an expected yaw velocity of error progressive convergence according to the transverse control error; and 5, calculating and outputting a steering wheel turning angle according to the expected yaw velocity so as to complete the transverse control of the vehicle. According to the method, the difference between various types of vehicle steering systems can be considered, the transverse error rapid convergence under the low calculation power requirement is realized, and the purpose of transverse control of the automatic driving vehicle is achieved.

    本发明提供一种自动驾驶车辆横向控制方法,所述方法包括:步骤1:根据车辆当前位置与规划轨迹,计算轨迹投影点,构建轨迹投影点坐标系;步骤2:将规划轨迹转换到轨迹投影点坐标系;步骤3:根据车辆当前位置和轨迹投影点,计算横向控制误差;步骤4:根据横向控制误差计算误差渐进收敛的期望横摆角速度;步骤5:根据期望横摆角速度计算并输出方向盘转角,以完成车辆的横向控制。该方法能够兼顾多类型车辆转向系统之间的差异,实现低算力需求下的横向误差快速收敛,达到自动驾驶车辆进行横向控制的目的。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Transverse control method for autonomous vehicle


    Weitere Titelangaben:

    一种自动驾驶车辆横向控制方法


    Beteiligte:
    KUANG ZONGXU (Autor:in) / LUO MAN (Autor:in) / CAO KAI (Autor:in) / XIONG SHENGJIAN (Autor:in) / KUANG RUI (Autor:in)

    Erscheinungsdatum :

    15.03.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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



    Autonomous vehicle personification transverse control method

    WANG MENG / LYU XUE / XIONG WEI et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Transverse control method and device for autonomous vehicle and vehicle

    MENG YUXIANG / SHEN PENG / MA SHUSHU et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Transverse control safety monitoring method and system for autonomous vehicle

    WANG TIANPEI / ZHANG KAI / HE LIN et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Parameter adjusting method and device for transverse control of autonomous vehicle

    WANG MAN / WU HUAIZHU / LI YANG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Transverse avoidance method and device for autonomous vehicle

    LI WEI | Europäisches Patentamt | 2023

    Freier Zugriff