The invention discloses a feedforward feedback steering wheel compensation control method for automatic driving, which comprises the following steps of calculating the feedback quantity of steering inner and outer wheel steering angles at the current moment according to the steering angle of a current steering wheel, and calculating the feedforward quantity of the steering inner and outer wheel steering angles according to the curvature radius of a current road path; during manual driving, using the feedback quantity as the control quantity to control the steering wheel to perform steering angle compensation, and during automatic driving, using the mean value of the feedback quantity and the feedforward quantity for controlling the steering wheel to perform steering angle compensation. By automatically compensating the steering angle of the steering wheel and simultaneously compensating the feed-forward quantity and the feedback quantity in the automatic driving state, the tire wear is reduced, and the steering accuracy is improved.

    本发明公开了一种自动驾驶的前馈反馈转向轮补偿控制方法,包括由当前转向盘转向角计算当前时刻转向内、外轮转角反馈量,以及由当前道路路径的曲率半径计算转向内、外轮转角前馈量,在手动驾驶时以反馈量为控制量控制转向轮进行转向角补偿,在自动驾驶时以反馈量和前馈量的均值控制转向轮进行转向角补偿。本发明通过自动对转向轮进行转向角补偿并在自动驾驶状态下由前馈量和反馈量同时补偿,减少轮胎磨损,提高转向准确性。


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    Title :

    Automatic driving feedforward and feedback steering wheel compensation control method


    Additional title:

    一种自动驾驶的前馈反馈转向轮补偿控制方法


    Contributors:
    ZHAO FUZHOU (author) / CHEN YUAN (author) / SHEN YIFAN (author)

    Publication date :

    2021-05-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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