The invention provides a transverse control method, device and equipment for an intelligent driving vehicle based on an input shaper and a storage medium, and can be applied to the field of vehicle automatic driving control. According to the method, the current state and trajectory planning information of the intelligent driving vehicle are obtained, the process of converting the vehicle from the current state to a planning state in the planning information is analyzed and processed through a controller, a steering wheel turning angle command signal of the vehicle is obtained, and the steering wheel turning angle command signal is sent to an input shaper; a target steering wheel turning angle command signal shaped by the input shaper is obtained, and finally transverse control over the vehicle can be completed according to the target steering wheel turning angle command signal. According to the method, the transverse control of the intelligent driving vehicle based on the input shaper is realized, the instantaneous oscillation such as jittering, swinging and the like caused by overshoot and phase lag of the control quantity when the high-order intelligent driving vehicle moves at a high speed, especially runs at a curve is effectively reduced, and the stable operation of the automatic driving vehicle is ensured.

    本申请提供一种基于输入整形器的智能驾驶车辆的横向控制方法、装置、设备和存储介质,可以用于车辆自动驾驶控制领域。该方法通过获取智能驾驶车辆的当前状态和轨迹规划信息,并用控制器将车辆从当前状态转变至规划信息中的规划状态的过程进行分析处理,得出车辆的方向盘转角命令信号,将该方向盘转角命令信号发送给输入整形器,得出输入整形器整形后的目标方向盘转角命令信号,最终按照目标方向盘命令信号即可完成对车辆的横向控制。该方法实现了基于输入整形器的智能驾驶车辆的横向控制,有效减少了高阶智能驾驶车辆在高速运动尤其是弯道行驶时由控制量超调和相位滞后产生的抖动、摇摆等瞬时震荡,保障了自动驾驶车辆的稳定运行。


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    Title :

    Transverse control method and device of intelligent driving vehicle based on input shaper


    Additional title:

    基于输入整形器的智能驾驶车辆的横向控制方法和装置


    Contributors:
    JIANG ZHENYU (author) / LIU YANG (author) / TIAN LEI (author) / NIU GUANGZHI (author)

    Publication date :

    2024-06-14


    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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