The invention relates to an automatic driving vehicle transverse and longitudinal control method and system, and belongs to the technical field of vehicle automatic driving control. The method comprises the following steps: firstly, establishing feed-forward control, calculating by using the feed-forward control to obtain a compensated steering wheel rotation angle/acceleration, secondly, establishing MPC feedback control, and updating a dynamic error model and a prediction model of a vehicle in the MPC feedback control by adopting a KF algorithm to obtain a predicted steering wheel rotation angle/acceleration. And finally, adding the predicted steering wheel rotation angle/acceleration and the compensation steering wheel rotation angle/acceleration as a target steering wheel rotation angle/acceleration, and controlling the vehicle according to the target steering wheel rotation angle/acceleration. The method solves the problem of poor transverse and longitudinal control effects caused by inaccurate vehicle action prediction precision of a used prediction model when a vehicle dynamic model is nonlinear.
本发明涉及一种自动驾驶车辆横纵向控制方法及系统,属于车辆自动驾驶控制技术领域。首先建立前馈控制,利用前馈控制计算得到补偿方向盘转角/加速度,其次建立MPC反馈控制,对MPC反馈控制中车辆的动力学误差模型和预测模型采用KF算法进行更新,得到预测的方向盘转角/加速度,最后将预测的方向盘转角/加速度加上补偿方向盘转角/加速度作为目标方向盘转角/加速度,按照目标方向盘转角/加速度对车辆进行控制。本方法解决了车辆动力学模型为非线性时,使用的预测模型预测车辆动作精度不准导致横纵向控制效果差的问题。
Automatic driving vehicle transverse and longitudinal control method and system
一种自动驾驶车辆横纵向控制方法及系统
2023-08-29
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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