The invention relates to a lateral control system and method for automatic driving and a computer program product. The lateral control method comprises the following steps: acquiring first preview point information of a position control point and second preview point information of a course control point; acquiring position error information according to the first preview point information, and acquiring course error information according to the second preview point information; obtaining PID adjustment information according to the position error information and the course error information, wherein the PID adjustment information is used for adjusting the steering of the vehicle so as to realize transverse control of the autonomous vehicle; lateral slippage of the vehicle in the turning process is predicted and compensated while steering of the vehicle is adjusted according to the PID adjustment information. According to the method and the system, the steering control precision of the automobile in the automatic driving process is improved.
本发明涉及用于自动驾驶的横向控制系统、方法及计算机程序产品,横向控制方法包括:获取所述位置控制点的第一预瞄点信息和所述航向控制点的第二预瞄点信息;根据第一预瞄点信息获取位置误差信息,根据第二预瞄点信息获取航向误差信息;根据位置误差信息和航向误差信息获取PID调整信息,PID调整信息用于调整车辆的转向以实现对自动驾驶车辆的横向控制;在根据PID调整信息调整车辆的转向的同时,预测并补偿车辆在转弯过程中的侧向滑移。本发明所述的方法和系统,提高汽车在自动驾驶过程中转向控制的精度。
Lateral control system, method and computer program product for automatic driving
用于自动驾驶的横向控制系统、方法及计算机程序产品
20.12.2024
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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