Transverse extension preview switching control method for autonomous vehicle

A technology of automatic driving and control methods, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve problems such as poor overall control effects, achieve small control errors, strong robustness, and improve response speed

CN108732921AActive Publication Date: 2018-11-02JIANGSU UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2018-11-02

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Abstract

The invention discloses a transverse extension preview switching control method for an autonomous vehicle. The transverse extension preview switching control method employs upper and lower layer controllers. In the upper layer controller, a front road curvature value and a transverse position deviation of the vehicle and a road center line are selected as eigenvalues of an extension set, the extension set is divided, a correlation function is solved, and vehicle-road system states are divided into a classic domain, an extension domain and a non-domain. In the lower layer controller, the classical domain adopts a PD feedback controller based on the transverse position deviation and a course deviation, the extension domain adopts a PD feedforward-feedback controller based on the front road curvature value, and a vehicle-road system in the non-domain is in an out of control state, emergency braking is adopted, and the switching control of two control strategies in the classic domain and the extension domain is realized according to different states of the vehicle-road system. The transverse extension preview switching control method for autonomous vehicle successfully applies an extension control theory to the field of transverse control of the autonomous vehicles, and satisfies the requirements for transverse control precision of vehicles.
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Description

technical field

[0001] The invention belongs to the technical field of automatic driving vehicle control systems, and in particular relates to a control method for horizontal extension preview switching of automatic driving vehicles based on extension control theory. Background technique

[0002] As a measure to solve road congestion and road traffic safety, intelligent vehicles can improve vehicle economy and reduce environmental pollution. All major universities and vehicle research and development centers in the world have turned to the research and development and production of intelligent vehicles, mainly involving vehicle path tracking, lane keeping, vehicle lane changing and other vehicle lateral control fields.

[0003] Vehicle lateral control means that when the vehicle is driving along the desired path, through algorithmic decision-making and the action of the underlying executive device, the lateral position deviation and heading deviation are as small as possible...

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the description of the drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0035] figure 1 It is a control flow chart of the control method for the horizontal extension preview switching of the self-driving car, wherein, e p is the lateral deviation, is the heading deviation, ρ is the curvature of the road centerline, δ f For the vehicle front wheel angle, the control method of the present invention will be designed based on this control flow chart below.

[0036] The upper controller is an extension controller, the main purpose is to obtain the lateral position deviation e between the vehicle and the road centerline collected by the vehicle sensor p and road centerline curvature ρ. According to the lateral deviation value e between the current vehicle and the road centerline p The curvature value ρ of the road centerline divides the...