The invention discloses a transverse control method and device for an automatic driving vehicle and the vehicle, and the method comprises the steps: obtaining the actual coordinates and the current course angle of the vehicle, and obtaining the current pose and the position information of a target point; calculating the distance deviation, the distance deviation change rate, the course angle deviation and the angle deviation change rate between the current moment and the target point according to the current pose and position information, and calculating a state matrix; and determining a first model parameter matrix and a second model parameter matrix by using the vehicle dynamics model, selecting a first weighting matrix and a second weighting matrix at the same time, determining an optimal matrix according to a linear quadratic regulator (LQR) algorithm, and controlling a steering actuator of the vehicle to execute a steering control quantity obtained by multiplying the optimal matrix and the state matrix. Therefore, the stability and the comfort of vehicle tracking under a complex road with fast curvature and speed change are ensured, and the control precision and the self-adaptability of the LQR controller are improved.

    本申请公开了一种自动驾驶车辆的横向控制方法、装置及车辆,其中,方法包括:获取车辆的实际坐标和当前航向角,得到当前位姿和目标点的位置信息;根据当前位姿和位置信息计算当前时刻与目标点的距离偏差、距离偏差变化率、航向角偏差和角度偏差变化率,计算状态矩阵;利用车辆动力学模型确定第一模型参数矩阵和第二模型参数矩阵,并同时选取第一加权矩阵和第二加权矩阵,以根据线性二次型调节器LQR算法确定最优矩阵,及控制车辆的转向执行器执行由最优矩阵和状态矩阵相乘得到的转向控制量。由此,保证曲率和速度变化快的复杂道路下车辆跟踪的稳定性和舒适性,实现LQR控制器的控制精度和自适应性的提高。


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    Title :

    Transverse control method and device for automatic driving vehicle and vehicle


    Additional title:

    自动驾驶车辆的横向控制方法、装置及车辆


    Contributors:
    MENG YUXIANG (author) / SHEN PENG (author) / MA SHUSHU (author) / WANG JUAN (author)

    Publication date :

    2021-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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