The invention provides a vehicle transverse control method and device and electronic equipment, and the method comprises the steps: building a kinematic equation of a vehicle, and determining a state equation of the vehicle through the kinematic equation; determining a state equation of the vehicle at a series of given reference moments in combination with a given reference path; determining an initial LQR controller according to a state equation of a series of given reference moments; a state-space equation is established, the state-space equation is provided with at least two state variables, one state variable is used for reflecting system noise of the vehicle, and the other state variables are used for reflecting external interference; determining an extended state observer according to the state-space equation; and generating a target LQR controller with the extended state observer in combination with the initial LQR controller and the extended state observer, and using the target LQR controller for vehicle control. The method has high tracking precision, has a certain inhibition effect on external interference transverse control and feedback noise, and can ensure the robustness and control precision of a vehicle control system.

    本发明提供了一种车辆横向控制方法、装置和电子设备,方法包括:建立车辆的运动学方程,由运动学方程确定车辆的状态方程;结合给定的参考路径,确定车辆在给定一系列参考时刻的状态方程;根据给定一系列参考时刻的状态方程确定初始LQR控制器;建立状态空间方程,状态空间方程具有至少两个状态变量,其中一个状态变量用于反映车辆的系统噪声,其余状态变量用于反映外部干扰;根据状态空间方程确定扩张状态观测器;结合初始LQR控制器和扩张状态观测器,生成具有扩张状态观测器的目标LQR控制器,将目标LQR控制器用于车辆控制。本发明具有较高的跟踪精度,对外部干扰横向控制和反馈噪声具有一定的抑制作用,能够保证车辆控制系统的鲁棒性和控制精度。


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    Title :

    Vehicle transverse control method and device and electronic equipment


    Additional title:

    车辆横向控制方法、装置和电子设备


    Contributors:
    WU FEILONG (author) / CHAI JIAFENG (author)

    Publication date :

    2022-12-30


    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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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