The invention discloses a transverse tracking steady-state deviation compensation method and device, relates to the technical field of automatic driving, and mainly aims to improve the robustness and adaptability of a transverse control algorithm by adding an interference self-compensation link on a control architecture level, and improve the stability of a vehicle without a vehicle model. And the compensation of the transverse tracking steady-state deviation is realized under the condition of not considering the steering mechanism delay. The transverse tracking steady-state deviation compensation method comprises the following steps: acquiring real-time information of vehicle driving based on a sensor of a vehicle; judging whether the vehicle is subjected to steady state deviation compensation according to the real-time information and a preset composite interference estimation condition; if the steady-state deviation compensation is executed, determining the steady-state deviation of the vehicle by using an exponential weighted moving average algorithm according to the vehicle track; and processing the steady-state deviation by a preset feedback controller, and obtaining the front wheel deflection angle to be compensated of the vehicle.
本发明公开了一种横向跟踪稳态偏差补偿方法及装置,涉及自动驾驶技术领域,主要目的在于通过在控制架构层面增加了干扰自补偿环节,提高横向控制算法的鲁棒性和适应性,在无需车辆模型,也不考虑转向机构延迟的情况下实现横向跟踪稳态偏差的补偿。本发明中的横向跟踪稳态偏差补偿方法包括:基于车辆的传感器获取车辆行驶的实时信息;根据所述实时信息以及预设的复合干扰估计条件判断所述车辆是否进行稳态偏差补偿;若执行稳态偏差补偿,则根据车辆轨迹利用指数加权滑动平均算法确定所述车辆的稳态偏差;利用预设的反馈控制器处理所述稳态偏差,得到所述车辆待补偿的前轮偏角。
Transverse tracking steady-state deviation compensation method and device
横向跟踪稳态偏差补偿方法及装置
2021-05-07
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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