Automatic driving vehicle transverse coordination control method based on extendable priority-degree evaluating

Abstract

The invention discloses an automatic driving vehicle transverse coordination control method based on extendable priority-degree evaluating. An upper-layer controller is designed, specifically, the transverse position deviation e

of a vehicle and a road center line, the course deviation phi<r> of the vehicle and the road center line, the vehicle heading angle speed dot{phi} and the curvature rhoof the road center line are obtained and input into a PID feedback controller and a PID feedforward-feedback controller correspondingly, front wheel rotation angles delta<f1> and delta<f2> of the vehicle are output correspondingly, output values are substituted into an evaluation index prediction model, two sets of corresponding vehicle-road prediction state quantities are obtained, the vehicle-road prediction state quantities are evaluated through a priority-degree evaluating method, the result with the high priority degree is selected, and the front wheel rotation angle corresponding to theresult serves as an output value to be input into a lower-layer controller; and the lower-layer controller calculates a correlation function K(S) through the transverse position deviation e

of thecurrent vehicle and the road center line and the curvature rho of the road center line, delta<f> is coordinated through the correlation function K(S), the coordinated front wheel rotation angle is output to a vehicle-road state spatial equation, and an actual front wheel rotation angle is obtained.

Description

technical field [0001] The invention belongs to the technical field of control systems for automatic driving vehicles, and in particular relates to a lateral coordination control method for automatic driving vehicles based on extension goodness evaluation. Background technique [0002] As a main research content in the field of intelligent traffic control, intelligent vehicle integrates a variety of modern electronic information technologies. With the current society's increasing demand for intelligent and safe modern vehicles, intelligent vehicles have become a hot issue and technological frontier in the field of transportation in various countries in the world. Research on vehicle lateral control (lane keeping, vehicle lane changing) has received more and more attention as a part of the field of intelligent vehicle research. [0003] Vehicle lateral control means that when the vehicle is driving along the desired path, through algorithmic decision-making and the action of...

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.

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