The invention discloses a method for improving the stability of automatic driving transverse control, and the method comprises the steps: firstly carrying out the judgment of an application scene, judging whether an automatic driving vehicle is in a high-speed automatic cruise state or not, and starting an incremental model prediction controller for transverse control if the automatic driving vehicle is in the high-speed automatic cruise state, wherein the incremental model prediction controller outputs the variable quantity of the steering wheel control signal on the basis of the previous period according to the target course angle and the target position of the vehicle; and adding the calculated variable quantity to the steering wheel control signal of the previous period to obtain the steering wheel control signal of the current period. According to the method, incremental superposition is carried out on the steering wheel control signals, limitation on the variation of the steeringwheel is increased along with different changes of the automobile speed, the safety, smoothness and riding comfort of transverse control over the automatic driving automobile in the high-speed driving state are improved, the calculated amount is greatly reduced, and the practicability is high.
本发明是一种提升自动驾驶横向控制稳定性的方法,该方法包括:首先进行适用场景判断,判断自动驾驶车辆是否处于高速自动巡航状态,若是,启动一个增量式模型预测控制器进行横向控制;所述增量式模型预测控制器根据车辆的目标航向角和目标位置输出方向盘控制信号在前一个周期基础上的变化量;将算出的变化量加上前一个周期的方向盘控制信号,得到当前周期的方向盘控制信号。本发明通过对方向盘控制信号进行增量式的叠加,并随着车速的变化不同增加了对方向盘变化量的限制,提高了自动驾驶汽车在高速驾驶状态下横向控制的安全性、平顺性和乘坐的舒适性,并且计算量大幅降低,实用性高。
Method for improving stability of automatic driving transverse control
一种提升自动驾驶横向控制稳定性的方法
2020-11-06
Patent
Electronic Resource
Chinese
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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