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A parametric adaptive lateral motion lqr control method for autonomous vehicles

A technology of lateral movement and automatic driving, applied in the direction of adaptive control, general control system, control/adjustment system, etc., to achieve the effect of improving control accuracy and adaptability

Active Publication Date: 2022-07-01
CATARC TIANJIN AUTOMOTIVE ENG RES INST CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in most related studies, the parameters of the LQR controller (ie, the weighting matrix) generally use fixed values, which limits the improvement of control accuracy and adaptability to a certain extent.

Method used

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  • A parametric adaptive lateral motion lqr control method for autonomous vehicles
  • A parametric adaptive lateral motion lqr control method for autonomous vehicles
  • A parametric adaptive lateral motion lqr control method for autonomous vehicles

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Embodiment Construction

[0052] It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict.

[0053] In the description of the present invention, it should be understood that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be constru...

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PUM

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Abstract

The invention provides a parameter-adaptive lateral motion LQR control method of an automatic driving vehicle, which specifically includes the following steps: collecting target path information, vehicle position information, and vehicle status information required by a lateral motion control system in real time; Processing conversion; according to the collected data information, according to the established LQR control parameter adjustment strategy based on path tracking error and vehicle-road position relationship, determine the controller parameters in the current state; according to the determined controller parameters, calculate the steering of the self-driving car The control quantity is passed to the steering actuator for execution. The invention is based on the automatic driving lateral LQR controller, and adds a LQR controller parameter calculation and adjustment strategy based on the path tracking error and the vehicle-road position relationship, so as to improve the path tracking accuracy and improve the adaptability of the controller. .

Description

technical field [0001] The invention belongs to the field of automatic driving lateral motion control, in particular to a parameter adaptive lateral motion LQR control method of an automatic driving vehicle. Background technique [0002] The lateral motion control of autonomous driving is one of the three cores of this technology. According to the target path information of the upper-level decision planning system, it outputs corresponding steering control commands to control the vehicle to drive along the target path. The lateral motion control method is the core of the entire motion control system, and its pros and cons will not only affect the tracking accuracy of the intelligent vehicle on the target path, but also affect the stability and comfort of the vehicle. [0003] At present, many control methods, such as pure tracking algorithm, PID control, sliding mode control, optimal control, model predictive control, etc., have been applied in the design of lateral motion c...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 高琳琳龚进峰戎辉唐风敏郭蓬何佳吴学易夏海鹏
Owner CATARC TIANJIN AUTOMOTIVE ENG RES INST CO LTD
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