Transverse control method and system of automatic driving truck and storage medium

Abstract

The invention relates to a transverse control method of an automatic driving truck, which comprises the following steps of: S100, receiving an input reference track, and calculating a tracking error;s200, obtaining an estimated value of a truck state and an equivalent estimated value of disturbance through an extended state observer; s300, inputting the state variable into an LQR closed-loop feedback controller to obtain the output of a linear quadratic regulator controller; s400, acquiring a control signal of the truck, and sending the control signal to a drive-by-wire system of the truck; and S500, cycling the steps S100-S400 , 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 truckand a storage medium. Tracking error feedback control is carried out through the linear quadratic regulator LQR, stable tracking control is carried out on a track, meanwhile, an extended state observer ESO is adopted for estimating truck modeling errors and external interference and carrying out compensation, and the stability and robustness of transverse control over the automatic driving truckare effectively improved.

Description

technical field [0001] The invention belongs to the field of automatic driving of motor vehicles, in particular to a lateral control method, system and storage medium of an automatic driving truck. Background technique [0002] Such as Figure 4 As shown, the existing truck structure is divided into two parts: tractor ① and trailer ②. Among them, the center of the rear wheel axle ③ is the mass point of the tractor ①, and the center ④ of the rear wheel axle of the trailer is the mass point of the trailer ②. 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, it is also necessary to keep the trailer ② in the lane...

AI Technical Summary

Problems solved by technology

[0004] In the advanced automatic driving of trucks, it is often difficult to accurately model the truck, and it is also difficult to accurately estimate the changes of different mass centroids, etc. At the same time, in the process of control, there are external disturbances that affect the control of the vehicle, such as wind speed , road conditions, etc., are external disturbances to the vehicle control system, affecting the performance of the control, and even making the system unstable, resulting in safety accidents

Traditional control methods often do not consider the influence of external disturbances and inaccurate system modeling, and use the stability margin of the controller to ensure the stability of the controller as much as possible, which not only reduces the performance index of the system, but also when external disturbances or system In the case of large changes, it is difficult for the controller to ensure stability, which will cause the vehicle to lose control

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