The invention provides a transverse control method, device and equipment of an automatic driving vehicle and a storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining the variance of the steering control quantity of the automatic driving vehicle in a preset number of continuous control periods, the steering control quantity being obtained through LQR based on the driving information of the automatic driving vehicle, the LQR is obtained based on a vehicle dynamics model; according to the variance, determining whether to adjust a weighting matrix R of the LQR; if yes, adjusting a weighting matrix R of the LQR according to the variance to obtain an adjusted weighting matrix R '; and according to the adjusted weighting matrix R'and the driving information of the automatic driving vehicle, the target steering control quantity of the automatic driving vehicle is obtained through the LQR, so that a steering actuator of the automatic driving vehicle is controlled to execute the target steering control quantity. The problem of shaking of the steering wheel can be effectively solved, and the driving stability and comfort of the whole vehicle are improved.

    本发明提供一种自动驾驶车辆的横向控制方法、装置、设备及存储介质,涉及自动驾驶技术领域,该方法包括:获取自动驾驶车辆在预设数量个连续控制周期内的转向控制量的方差,转向控制量是基于自动驾驶车辆的行驶信息,通过LQR获得的,LQR是基于车辆动力学模型获得的;根据方差,确定是否调整LQR的加权矩阵R;若是,则根据方差,调整LQR的加权矩阵R,得到调整后的加权矩阵R′;根据调整后的加权矩阵R′和自动驾驶车辆的行驶信息,通过LQR获取自动驾驶车辆的目标转向控制量,以控制自动驾驶车辆的转向执行器执行目标转向控制量。本发明能够有效减小方向盘晃动的问题,提高整车的行驶稳定性和舒适性。


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    Title :

    Lateral control method, device and equipment for autonomous vehicle and storage medium


    Additional title:

    自动驾驶车辆的横向控制方法、装置、设备及存储介质


    Contributors:
    XIAO CHUAN (author) / WAN KAILIN (author) / ZHOU ZENGBI (author) / SHENG JINYUAN (author)

    Publication date :

    2025-03-28


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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