The invention discloses an efficient transverse control method and system for an automatic driving vehicle and the vehicle, and relates to the technical field of vehicle transverse control, and the method comprises the steps: in the automatic driving process of the vehicle, obtaining the current real-time position information of the vehicle, determining a reference speed, a reference course angle and a reference curvature in combination with a preset reference trajectory, and calculating a current state variable; based on an off-line LQR control gain table, discrete intervals where the reference speed, the reference course angle and the reference curvature are located in respective working ranges are determined, control gains corresponding to the left end point and the right end point of the discrete interval where each reference value is located are determined, and then a control gain interval is determined; according to the positions of the discrete intervals where the reference values are located, control gains are obtained through linear interpolation calculation; according to the control gain corresponding to each reference value and the current state variable, a control law is obtained through calculation, and transverse control is conducted on the vehicle according to the control law. The method can guarantee the calculation precision, improves the calculation speed, and achieves a better transverse control effect.

    本发明公开一种自动驾驶车辆高效横向控制方法、系统及车辆,涉及车辆横向控制技术领域,包括:在车辆自动驾驶过程中,获取车辆当前实时位置信息,结合预设参考轨迹,确定参考速度、参考航向角和参考曲率,计算当前状态变量;基于离线LQR控制增益表,分别确定参考速度、参考航向角和参考曲率在各自工作范围内所在离散区间,确定每一参考值所在离散区间左右端点所对应的控制增益,进而确定控制增益区间;根据各参考值所在离散区间的位置,通过线性插值计算得到控制增益;根据各参考值分别对应的控制增益以及当前状态变量,计算得到控制律,根据控制律对车辆进行横向控制。本发明可保证计算精度并提高计算速度,实现更优的横向控制效果。


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    Title :

    Automatic driving vehicle efficient transverse control method and system and vehicle


    Additional title:

    一种自动驾驶车辆高效横向控制方法、系统及车辆


    Contributors:
    LIU WEI (author) / QU YUAN (author) / TANG DEZHI (author) / ZHANG JIAQI (author) / CHEN SONGSHAN (author)

    Publication date :

    2025-02-11


    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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