A method and an apparatus for controlling lateral motion of self-driving vehicle, and a self-driving vehicle. The method for controlling lateral motion of self-driving vehicle comprises: setting control parameters of a linear quadratic controller (S102); acquiring vehicle overall parameters (S104); acquiring a control parameter gain (S106) according to the control parameters and the vehicle overall parameters; acquiring a real-time control parameter gain (S108) according to the control parameter gain; acquiring a state error feedback amount, a trajectory curvature, and a vehicle inclination angle (S110); acquiring a control amount and a compensation amount (S112) according to the real-time control parameter gain, the state error feedback amount, the trajectory curvature, and the vehicle inclination angle; and acquiring an expected steering wheel angle, and outputting the expected steering wheel angle to a steering-by-wire system (S114) according to the control amount and the compensation amount. The present disclosure can achieve the optimal control of the self-driving vehicle lateral motion without static error, greatly reduce the calculation amount, and ensure convergence of an optimal control gain, achieving highly reliable and highly accurate tracking of an expected driving trajectory.
METHOD AND APPARATUS FOR CONTROLLING LATERAL MOTION OF SELF-DRIVING VEHICLE, AND SELF-DRIVING VEHICLE
VERFAHREN UND VORRICHTUNG ZUR STEUERUNG DER SEITLICHEN BEWEGUNG EINES SELBSTFAHRENDEN FAHRZEUGS UND SELBSTFAHRENDES FAHRZEUG
PROCÉDÉ ET APPAREIL DE COMMANDE DE MOUVEMENT LATÉRAL DE VÉHICULE AUTONOME, ET VÉHICULE AUTONOME
2024-02-14
Patent
Electronic Resource
English
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