The invention provides an automatic driving vehicle transverse control method, which comprises the following steps of: 1, calculating track projection points according to the current position of a vehicle and a planned track, and constructing a track projection point coordinate system; 2, converting the planned trajectory into a trajectory projection point coordinate system; 3, calculating a transverse control error according to the current position and the track projection point of the vehicle; step 4, calculating an expected yaw velocity of error progressive convergence according to the transverse control error; and 5, calculating and outputting a steering wheel turning angle according to the expected yaw velocity so as to complete the transverse control of the vehicle. According to the method, the difference between various types of vehicle steering systems can be considered, the transverse error rapid convergence under the low calculation power requirement is realized, and the purpose of transverse control of the automatic driving vehicle is achieved.
本发明提供一种自动驾驶车辆横向控制方法,所述方法包括:步骤1:根据车辆当前位置与规划轨迹,计算轨迹投影点,构建轨迹投影点坐标系;步骤2:将规划轨迹转换到轨迹投影点坐标系;步骤3:根据车辆当前位置和轨迹投影点,计算横向控制误差;步骤4:根据横向控制误差计算误差渐进收敛的期望横摆角速度;步骤5:根据期望横摆角速度计算并输出方向盘转角,以完成车辆的横向控制。该方法能够兼顾多类型车辆转向系统之间的差异,实现低算力需求下的横向误差快速收敛,达到自动驾驶车辆进行横向控制的目的。
Transverse control method for autonomous vehicle
一种自动驾驶车辆横向控制方法
2024-03-15
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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