Transverse control method for low-speed automatic parking of self-driving automobile
An automatic driving and automatic parking technology, applied in non-electric variable control, vehicle position/route/height control, motor vehicles and other directions, can solve the problems of difficult parameter adjustment and inaccurate control, and achieve improved stability and optimization. Control structure, the effect of reducing steady state error
Active Publication Date: 2021-07-13
的卢技术有限公司
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Problems solved by technology
[0004] Aiming at the problems of inaccurate control and difficult parameter adjustment of existing self-driving vehicles under low-speed motion, the present invention provides a lateral control method for low-speed automatic parking of self-driving vehicles, which combines the advantages of the LQR algorithm and the kinematic model at low speeds. Good performance, the proposed kinematics LQR algorithm is used in the forward and backward process of the vehicle parking process
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[0041] Embodiments of the present invention will be described below in conjunction with the accompanying drawings.
[0042] The invention relates to a lateral control method for low-speed automatic parking of an automatic driving vehicle. The method is suitable for a low-speed parking system of an automatic driving vehicle, wherein the low-speed parking system includes a planning layer, a positioning layer, a bottom layer, and a control layer. Both the planning layer and the positioning layer of the self-driving vehicle under the system used in this method work normally, and the bottom layer can send feedback in real time, and the control layer performs control in real time. Specifically, this method includes the following steps:
[0043] Step 1: The planning layer of the self-driving vehicle plans the parking trajectory according to the current environment and sends it to the control layer; the positioning layer of the self-driving vehicle locates the current position of the ...
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The invention discloses a transverse control method for low-speed automatic parking of an automatic driving automobile. The transverse control method comprises the steps that a planning layer plans a parking track and sends the parking track to a control layer; the positioning layer positions the current position of the vehicle in real time to obtain positioning information and sends the positioning information to the control layer; the bottom layer receives the control instruction sent by the control layer and feeds back the current state information of the vehicle in real time; the control layer obtains a state-space equation of vehicle motion according to a vehicle kinematics model, establishes an LQR control model, and solves the state-space equation to obtain a feedback vehicle front wheel turning angle in the parking process; and an actual feedback front wheel turning angle [delta]f_feedback is obtained through calculation by using an LQR control model, a final total output turning angle [delta]f_feedforward is obtained by combining the obtained feed-forward output turning angle, and the forward driving process and the backward driving process in the vehicle parking process are controlled according to the total output turning angle. The control stability is improved, meanwhile, the steady-state error of the system is reduced, the vehicle control structure is optimized, and full-automatic parking control is achieved.
Description
technical field [0001] The invention relates to a lateral control method for low-speed automatic parking of an automatic driving vehicle, and belongs to the technical field of lateral control of automatic driving. Background technique [0002] Autonomous driving has ushered in an opportunity for rapid development in recent years. The actual control of autonomous driving vehicles is related to the safety, stability and comfort of vehicles, and is a key technology for the implementation of autonomous driving technology. The existing automatic driving control technology is divided into horizontal control technology and longitudinal control technology. The lateral control is related to the stability of the vehicle. The existing lateral control technologies include pure tracking algorithm, Stanley algorithm, LQR algorithm, MPC algorithm and so on. The dynamics LQR algorithm models the dynamics of the vehicle, so that it can better conform to the vehicle's motion characteristics ...
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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276
Inventor 吴昊
Owner 的卢技术有限公司