Vehicle driving control method and device, vehicle and computer readable storage medium
A control method and technology of a control device, applied in computer parts, calculations, instruments, etc., can solve problems such as the inability to meet vehicle stability control requirements, and achieve the effect of small lateral deviation distance and high driving stability
Active Publication Date: 2021-04-02
英博超算(南京)科技有限公司
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Problems solved by technology
[0002]The self-driving vehicle is driving on a structured road where the on-board camera can recognize the lane markings. When the driver activates the lane centering system, the car's camera sensor will track the lane markings, And by using the active steering system of the car to maintain the heading, help the driver maintain a stable path ahead, so that the vehicle can be controlled to drive in the center of the lane, and the kinematics model method cannot meet the requirements of the vehicle when the vehicle speed is too fast or the curvature rate is too large. Stability Control Requirements
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[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. It can be understood that the drawings are provided for reference and description only, and are not intended to limit the present invention.
[0046] In the present invention, the vehicle linear two-degree-of-freedom dynamics model is as follows:
[0047] Normally, such as figure 1 As shown, the forces acting on the vehicle are distributed along three different axes:
[0048] (1) The force on the longitudinal axis includes driving force and braking force, as w...
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The invention provides a lane centered driving control method based on LQR. The method comprises the steps of calculating a lane center line according to a lane line so that a vehicle can be roughly located on the lane center line; calculating a transverse offset D0 according to a distance X0 previewed by a vehicle coordinate system along the heading angle direction of the vehicle head, calculating a transverse offset D1 according to a distance X1 previewed by a distance X2, calculating a transverse offset D2 according to a distance X2 previewed by a distance X2, calculating a relative headingangle epsilon according to X1, X2, D1 and D2, and calculating a direction turning angle through an LQR transverse control algorithm to transversely control the vehicle. The stability of automatic driving of the vehicle can be improved.
Description
technical field [0001] The present invention relates to the technical field of automatic driving, and in particular to a vehicle driving control method, device, vehicle and computer-readable storage medium. Background technique [0002] Self-driving vehicles are driving on structured roads where on-board cameras can recognize lane lines. When the driver activates the lane centering system, the car's camera sensors track the lane markings and help the driver stay on course by using the car's active steering system to maintain heading. The stable path ahead makes the vehicle control to drive in the center of the lane, and the kinematic model method cannot meet the stability control requirements of the vehicle when the vehicle speed is too fast or the curvature rate is too large. Contents of the invention [0003] In view of this, in order to solve one of the technical problems in the related art to a certain extent, it is necessary to provide a vehicle driving control method...
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IPC IPC(8): B60W40/114G06K9/00
CPCB60W40/114G06V20/588
Inventor 枚元元王继贞田锋秦伦
Owner 英博超算(南京)科技有限公司