Transverse extension preview switching control method for autonomous vehicle

Abstract

The invention discloses a transverse extension preview switching control method for an autonomous vehicle. The transverse extension preview switching control method employs upper and lower layer controllers. In the upper layer controller, a front road curvature value and a transverse position deviation of the vehicle and a road center line are selected as eigenvalues of an extension set, the extension set is divided, a correlation function is solved, and vehicle-road system states are divided into a classic domain, an extension domain and a non-domain. In the lower layer controller, the classical domain adopts a PD feedback controller based on the transverse position deviation and a course deviation, the extension domain adopts a PD feedforward-feedback controller based on the front road curvature value, and a vehicle-road system in the non-domain is in an out of control state, emergency braking is adopted, and the switching control of two control strategies in the classic domain and the extension domain is realized according to different states of the vehicle-road system. The transverse extension preview switching control method for autonomous vehicle successfully applies an extension control theory to the field of transverse control of the autonomous vehicles, and satisfies the requirements for transverse control precision of vehicles.

Description

technical field [0001] The invention belongs to the technical field of automatic driving vehicle control systems, and in particular relates to a control method for horizontal extension preview switching of automatic driving vehicles based on extension control theory. Background technique [0002] As a measure to solve road congestion and road traffic safety, intelligent vehicles can improve vehicle economy and reduce environmental pollution. All major universities and vehicle research and development centers in the world have turned to the research and development and production of intelligent vehicles, mainly involving vehicle path tracking, lane keeping, vehicle lane changing and other vehicle lateral control fields. [0003] Vehicle lateral control means that when the vehicle is driving along the desired path, through algorithmic decision-making and the action of the underlying executive device, the lateral position deviation and heading deviation are as small as possible...

AI Technical Summary

Problems solved by technology

However, the above-mentioned control method has many limitations, or the control effect is better under specific working conditions, but the overall control effect is not good under mixed and complex working conditions.

[0004] Vehicle control is a multi-input and multi-output system, and the road environment of the vehicle needs to be considered in the lateral control of the vehicle, so the above-mentioned control method has many limitations.

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