Vehicle transverse self-adaptive control method, control device and vehicle

Abstract

The invention provides a vehicle transverse self-adaptive control method, a control device and a vehicle. The vehicle transverse self-adaptive control method comprises the steps: determining a previewpoint according to the current vehicle speed of a vehicle and preset preview time; determining a pure tracking control quantity according to the position information of the current point and the preview point of the vehicle; determining a preview point deviation feedback control quantity according to the state deviation of the preview point; determining a current position compensation control quantity according to the state deviation of the current point; and determining the steering wheel angle according to the pure tracking control quantity, the preview point deviation feedback control quantity and the current position compensation control quantity. The invention provides the vehicle transverse self-adaptive control method. According to the method, the preview distance is automaticallyadjusted according to the vehicle state, the problems of too early turning response and out-of-curve lag response are avoided, pure tracking control quantity and current point position error compensation quantity are also considered on the basis of state deviation feedback control quantity at the preview position, and the robustness of the algorithm is improved, so that the expected driving trackis tracked with high reliability and high precision.

Description

technical field [0001] The invention relates to the technical field of vehicles, in particular to a vehicle lateral adaptive control method, a vehicle lateral adaptive control device and a vehicle. Background technique [0002] The lateral control of the autonomous driving vehicle calculates the expected steering command in real time according to the planned trajectory of the upper layer and the vehicle positioning information, and controls the vehicle to drive along the target trajectory. At present, pure tracking algorithms are widely used in the lateral control of autonomous vehicles, such as figure 1 As shown, the pure tracking algorithm mainly has the following problems: [0003] 1. The steering mechanism responds prematurely when entering a large curvature curve, and the steering mechanism responds laggingly when exiting a large curvature curve; [0004] 2. For mixed curves with large changes in road curvature, the inappropriate selection of the preview distance lead...

AI Technical Summary

Problems solved by technology

[0003] 1. The steering mechanism responds prematurely when entering a large curvature curve, and the steering mechanism responds laggingly when exiting a large curvature curve;

[0004] 2. For mixed curves with large changes in road curvature, the inappropriate selection of the preview distance leads to low adaptability and precision of the lateral control system;

[0005] 3. When there is a large initial deviation in vehicle path tracking, the control effect is poor

However, this scheme has the problems of large amount of calculation and high complexity

Images