The invention discloses an automatic driving driving control method, device and equipment and a readable storage medium, and relates to the technical field of vehicle automatic control, and the method comprises the following steps: S10, obtaining current driving parameters and target driving parameters of a vehicle; step S20, calculating a transverse position error, a transverse change rate error, a course error and a course change rate error of the vehicle according to the current parameters and the target driving parameters of the vehicle; s30, according to the transverse position error, the transverse change rate error, the course error and the course change rate error of the vehicle and the structural parameters of the vehicle, an LQR corner and a curvature feed-forward corner are obtained through calculation; and S40, the sum value of the LQR rotation angle and the curvature feed-forward rotation angle serves as the steering angle of a vehicle steering wheel to control the vehicle to run. The curvature feed-forward rotation angle is adopted to compensate the LQR rotation angle, the tracking error of the steering angle of the vehicle steering wheel calculated by independently adopting the LQR algorithm during curve driving of the vehicle can be eliminated as much as possible, and the control accuracy is improved.

    本发明公开了一种自动驾驶行车控制方法、装置、设备及可读存储介质,涉及车辆自动控制技术领域,包括以下步骤:步骤S10,获取车辆的当前行驶参数和目标行驶参数;步骤S20,根据车辆的当前参数和目标行驶参数计算得到车辆的横向位置误差、横向变化率误差、航向误差和航向变化率误差;步骤S30,根据车辆的横向位置误差、横向变化率误差、航向误差和航向变化率误差和车辆的结构参数,计算得到LQR转角和曲率前馈转角;步骤S40,将LQR转角和曲率前馈转角的和值作为车辆方向盘转向角控制车辆行驶。本发明采用曲率前馈转角对LQR转角进行补偿,可以尽量消除车辆曲线行驶时单独采用LQR算法计算车辆方向盘转向角的跟踪误差,提升控制的准确性。


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    Title :

    Automatic driving control method, device and equipment and readable storage medium


    Additional title:

    自动驾驶行车控制方法、装置、设备及可读存储介质


    Contributors:
    ZHAO JINBO (author) / GUO QIXIANG (author) / CHEN HUI (author) / HE WEI (author) / QU ZIJUN (author) / GAO CHONGZHI (author) / LI NEN (author) / OUYANG CHENYU (author) / HU BOLUN (author) / YU ZIKANG (author)

    Publication date :

    2024-02-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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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