Automatic driving steering control method and system

Abstract

The invention discloses an automatic driving steering control method and a system. The method comprises the steps that planning track information sent by a planning module, vehicle chassis information sent by a chassis module and vehicle position information sent by a positioning module are obtained, wherein the planning track information comprises a planning driving track composed of a series of track points; a track point closest to the vehicle is found in the planned track information according to the vehicle position information, and the track point is recorded as a matching point; the remaining driving distance of the vehicle is determined according to the matching points and the planning track information; it is judged whether the residual driving distance is greater than a preset preview distance in a tracking algorithm based on kinematics or not; if yes, a tracking algorithm based on kinematics is adopted to calculate the deflection angle of front wheels of the vehicle so as to conduct steering control; if not, the front wheel deflection angle of the vehicle is calculated through an LQR algorithm based on dynamics, and steering control is conducted. Accurate steering control can be achieved in a low-speed scene, and meanwhile the stability control requirement of the vehicle is met.

Description

technical field [0001] The present invention relates to the technical field of automatic driving data processing, in particular to an automatic driving steering control method and system. Background technique [0002] With the development of the Internet of Vehicles, autonomous driving technology has been rapidly developed and applied. In automatic driving technology, the automatic driving control module receives messages from the upstream planning module, positioning module, and chassis module. Send it to the chassis module for execution, so that the vehicle can drive according to the target trajectory. Among them, automatic driving control is divided into lateral control and longitudinal control; lateral control mainly controls the steering of the automatic driving vehicle through the designed control algorithm, so that it can drive along the target path; longitudinal control controls the vehicle's accelerator pedal opening, Brake pedal opening or speed, acceleration and...

AI Technical Summary

Problems solved by technology

The vehicle control method based on kinematics does not consider the dynamic characteristics of the vehicle, so the algorithm cannot meet the stability control requirements of the vehicle when the vehicle speed is too fast or the curvature rate is too large, and when the vehicle enters the second half of the trajectory, it is close to the trajectory At the end point, due to the constant change of the preview distance, the control effect becomes worse

The dynamics-based vehicle control method takes into account the vehicle dynamics characteristics, accurate calculation, small steady-state error, and is suitable for medium and high-speed automatic driving scenarios. The disadvantage is that its algorithm requires continuous curvature of the road, so it has disadvantages in low-speed scenarios such as parking disadvantages

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