The invention provides a lane centered driving control method based on LQR. The method comprises the steps of calculating a lane center line according to a lane line so that a vehicle can be roughly located on the lane center line; calculating a transverse offset D0 according to a distance X0 previewed by a vehicle coordinate system along the heading angle direction of the vehicle head, calculating a transverse offset D1 according to a distance X1 previewed by a distance X2, calculating a transverse offset D2 according to a distance X2 previewed by a distance X2, calculating a relative headingangle epsilon according to X1, X2, D1 and D2, and calculating a direction turning angle through an LQR transverse control algorithm to transversely control the vehicle. The stability of automatic driving of the vehicle can be improved.
本发明提供一种基于LQR的车道居中驾驶控制方法,所述方法包括:根据车道线计算车道中心线以使车辆大致位于车道中心线上;根据车辆坐标系沿车头航向角方向预瞄一段距离X0计算横向偏移量D0、预瞄一段距离X1计算横向偏移量D1、预瞄一段距离X2计算横向偏移量D2,根据X1、X2、D1、D2计算相对航向角ε,通过LQR横向控制算法计算方向转角以对车辆进行横向控制。本发明能够提高车辆自动驾驶的稳定性。
Vehicle driving control method and device, vehicle and computer readable storage medium
车辆驾驶控制方法、装置、车辆以及计算机可读存储介质
2021-04-02
Patent
Electronic Resource
Chinese
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