Transverse control method and system for automatic driving truck

Abstract

The invention relates to a transverse control method for an automatic driving truck, and the method comprises the following steps: S100, receiving an input reference track, finding a track point closest to the truck, and calculating a tracking error; S200, the tracking error serving as a state variable of the linear quadratic regulator to be input into an LQR closed-loop feedback controller, and obtaining output of a linear quadratic regulator controller; inputting the reference track into a model reference self-adaptive controller to obtain model reference self-adaptive controller output; s300, combining the output of the linear quadratic regulator controller and the output of the model reference adaptive controller to obtain a steering wheel instruction, and sending the steering wheel instruction to a drive-by-wire system of the truck; and S400, cycling the steps S100-S300, so that the output of the truck is consistent with the expected output. The invention further provides a transverse control system of the automatic driving truck. Through LQR+MRAC, the robustness of the control algorithm can be greatly improved, so that the truck still has good stability under different loadsand special working conditions.

Description

technical field [0001] The invention belongs to the field of automatic driving of motor vehicles, in particular to a lateral control method and system for an automatic driving truck. Background technique [0002] The structure diagram of the existing truck is as follows: Figure 4 As shown, the truck is usually divided into two parts: the tractor ① and the trailer ②, where ③ is the mass point of the tractor ① (the center of the rear wheel axle), and ④ is the mass point of the trailer ② (the center of the rear wheel axle of the trailer). Usually, the weight of a fully loaded car is 20-25 times that of an ordinary car, and the length of a truck is 4-5 times that of an ordinary car. The structure of the truck is not a unified whole (including tractors and trailers). The control of the vehicle itself is more complex and demanding than that of a car. [0003] When a truck is driving in the lane, in addition to keeping the tractor ① in and out of the lane, the trailer ② also need...

AI Technical Summary

Problems solved by technology

Traditional lateral control mostly adopts feed-forward + preview method or PID for empirical parameter tuning, without considering or not fully considering the impact of vehicle dynamics on control performance, especially the impact of large changes in rear suspension and load on the vehicle. The stability has a great impact, the robustness of the control system is not robust enough, it is difficult to ensure the stable control of the vehicle during emergency obstacle avoidance

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