The invention discloses an automatic driving automobile transverse control method suitable for complex road conditions, and belongs to the technical field of automatic driving. Aiming at a large-ramp small-radius scene of an automatic driving automobile, the method comprises the following steps: firstly, simplifying the automobile into a two-degree-of-freedom dynamic model, calculating the cornering stiffness under different gradients based on a front and rear wheel load distribution model and a magic formula tire model, and considering the influence of the cornering stiffness on the transverse control of the automobile; solving an initial front wheel steering angle control quantity by adopting model predictive control according to the reference trajectory; the influence of road curvature change on vehicle transverse control is considered, front wheel steering angle control deviation caused by the road curvature change is deduced according to a trajectory tracking dynamics error equation, and finally, the initial front wheel steering angle control quantity and the front wheel steering angle control deviation caused by the road curvature change are superposed to obtain a front wheel transverse control steering angle with higher precision. According to the method, the safety, stability and accuracy of transverse control of the autonomous vehicle in the ramp curve scene are improved.

    本发明公开一种适用于复杂道路条件下的自动驾驶汽车横向控制方法,属于自动驾驶技术领域。本发明针对自动驾驶汽车在大坡道小半径场景,首先将车辆简化为一个二自由度动力学模型,基于前后轮载荷分布模型与魔术公式轮胎模型计算出不同坡度下的侧偏刚度,考虑侧偏刚度对车辆横向控制的影响,根据参考轨迹采用模型预测控制求解出初始前轮转角控制量;考虑道路曲率变化对车辆横向控制的影响,根据轨迹跟踪动力学误差方程,推导出道路曲率变化引起的前轮转角控制偏差,最终将初始前轮转角控制量与路曲率变化引起的前轮转角控制偏差叠加,获得精度更高的前轮横向控制转角。本发明提高了自动驾驶汽车在坡道弯道场景下横向控制的安全性、稳定性和准确性。


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    Title :

    Automatic driving automobile transverse control method suitable for complex road conditions


    Additional title:

    一种适用于复杂道路条件下的自动驾驶汽车横向控制方法


    Contributors:
    SHEN SHIQUAN (author) / HU ZHIMING (author) / ZHANG HUAWEI (author) / LI ZONGDIAN (author) / WANG QINGWANG (author) / CHEN ZHENG (author) / SHEN JIANGWEI (author) / HE JING (author)

    Publication date :

    2024-04-30


    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



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