The invention relates to a parameter adjusting method and device for transverse control of an automatic driving vehicle, and belongs to the technical field of transverse control of the vehicle. The method comprises the steps that vehicle body driving information of the vehicle is obtained, so that an equivalent input instruction and a feedback variable for transverse control of the vehicle can be determined according to the vehicle body driving information; obtaining a low-frequency response ratio and a high-frequency response ratio according to the equivalent input instruction and the feedback variable, and obtaining a corresponding low-frequency compensation gain and a corresponding high-frequency compensation gain according to the low-frequency response ratio and the high-frequency response ratio respectively; therefore, the low-frequency compensation gain and the high-frequency compensation gain of the vehicle can be determined at the same time, and the working condition and batch of the vehicle do not need to be considered; furthermore, the compensation gain can be determined through the low-frequency compensation gain and the high-frequency compensation gain, so that the compensation gain corresponding to the vehicle can be determined according to the specific condition of the vehicle, and then the stability of transverse control of the vehicle can be adjusted through the compensation gain.
本发明涉及一种自动驾驶车辆横向控制的参数调节方法和装置,属于车辆横向控制技术领域,其中,该方法包括获取车辆的车身行驶信息,从而可以根据车身行驶信息,确定车辆进行横向控制的等效输入指令和反馈变量,然后可以根据等效输入指令和反馈变量,得到低频响应比和高频响应比,然后可以分别根据低频响应比和高频响应比,得到对应的低频补偿增益和高频补偿增益;从而可以同时确定车辆的低频补偿增益和高频补偿增益,进而可以不用考虑车辆的工况和批次;进一步的,可以通过低频补偿增益和高频补偿增益,确定补偿增益,从而可以根据车辆的具体情况确定车辆对应的补偿增益,然后可以通过补偿增益对车辆进行横向控制的稳定性进行调节。
Parameter adjusting method and device for transverse control of autonomous vehicle
一种自动驾驶车辆横向控制的参数调节方法及装置
2024-11-22
Patent
Electronic Resource
Chinese
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