Automatic driving steering control method and system

Abstract

The invention discloses an automatic driving steering control method and system. The method includes: acquiring planning trajectory information sent by a planning module, vehicle chassis information sent by a chassis module, and vehicle position information sent by a positioning module. The planning track information includes a series of According to the vehicle position information, find the trajectory point closest to the vehicle in the planned trajectory information, and record it as a matching point; determine the remaining driving distance of the vehicle according to the matching point and the planned trajectory information; determine whether the remaining driving distance is is greater than the preset preview distance in the kinematics-based tracking algorithm; if so, the kinematics-based tracking algorithm is used to calculate the vehicle front wheel deflection for steering control; if not, the dynamics-based LQR algorithm is used to calculate the vehicle Front wheel slip angle for steering control. The present invention can realize accurate steering control in a low-speed scenario, and at the same time meet the stability control requirements of the vehicle.

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 the automatic driving technology, the automatic driving control module receives messages from the upstream planning module, the positioning module, and the chassis module. Send it to the chassis module for execution, so that the vehicle runs according to the target trajectory. Among them, automatic driving control is further divided into lateral control and longitudinal control; lateral control is mainly to control the steering of the automatic driving vehicle through the designed control algorithm, so that it can drive along the target path; longitudinal control is to control the accelerator pedal opening of the vehicle, The brake pedal ...

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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