Vehicle lateral control method, device and electronic equipment

Abstract

The present invention provides a vehicle lateral control method, device, and electronic device. The method comprises: establishing a vehicle kinematic equation, determining the vehicle's state equation from the kinematic equation; determining the vehicle's state equation at a given series of reference times based on a given reference path; determining an initial LQR controller based on the state equation at the given series of reference times; establishing a state-space equation having at least two state variables, one of which reflects the vehicle's system noise and the remaining state variables reflect external disturbances; determining an extended state observer based on the state-space equation; and generating a target LQR controller having the extended state observer by combining the initial LQR controller and the extended state observer. The target LQR controller is then used for vehicle control. The present invention has high tracking accuracy, suppresses external disturbance lateral control and feedback noise, and can ensure the robustness and control accuracy of the vehicle control system.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of vehicle automatic control, and in particular to a vehicle lateral control method, device and electronic equipment. Background Art

[0002] Vehicle automation is the application of automated control technologies to vehicle control systems, evolving from improving mechanical performance to assisting, partially replacing, or completely replacing human control. Vehicle automation can be categorized as longitudinal and lateral. Once these two functions are implemented, the vehicle can be automatically controlled according to given objectives and constraints. From a vehicle perspective, autonomous driving is the integration of both longitudinal and lateral control.

[0003] Automatic lateral vehicle control refers to the automated control of an intelligent vehicle's steering system. Its primary purpose is to enable the intelligent vehicle to track the road and maintain its trajectory along a predetermined path. Currently, lateral control of an intelligent vehicle is primarily accomplished by adjusting the steering wheel angle based on the vehicle's current and target heading angles.

[0004] During the lateral control process of intelligent vehicles, external disturbances such as wind speed and road conditions can affect the performance of the vehicle's automatic lateral control and even cause control system instability, leading to safety accidents. Traditional control methods often do not consider external disturbances. Some technologies do address external disturbances, but they employ dynamic modeling to address external disturbances and the vehicle's own motion information. The automatic control methods derived from this complex modeling are not conducive to improving the efficiency of automatic lateral control. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a vehicle lateral control method, device and electronic equipment to reduce the influence of external interference on the vehicle control system, improve the tracking performance of the vehicle control system, and ensure the robustness and control accuracy of the vehicle control system.

[0006] In a first aspect, the present invention provides a vehicle lateral control method, comprising: establishing a vehicle kinematic equation, and determining the vehicle state equation from the kinematic equation. Where X represents the state variable and u represents the input quantity. Combined with the given reference path, the state equation of the vehicle at a given series of reference moments is determined as Variables with a subscript r in the formula represent reference path variables; an initial LQR controller (Linear Quadratic Regulator) is determined based on the state equation for a given series of reference moments; a state-space equation is established; the state-space equation has at least two state variables, one of which is used to reflect the system noise of the vehicle, and the remaining state variables are used to reflect external interference; an extended state observer (ESO) is determined based on the state-space equation; the initial LQR controller and the extended state observer are combined to generate a target LQR controller having the extended state observer, and the target LQR controller is used for vehicle control.

[0007] Optionally, establishing the kinematic equation of the vehicle includes: expressing the position of the vehicle by the coordinates of the midpoint of the rear wheel of the vehicle and the heading angle of the vehicle, that is, the position P = (x, y, θ) T , where x and y represent the coordinates of the vehicle, and θ is the heading angle of the vehicle; the kinematic equation of the vehicle is expressed as:

[0008]

[0009] Wherein v and w represent the speed and acceleration of the vehicle respectively.

[0010] Optionally, determining the initial LQR controller according to the state equation at a given series of reference moments includes: when determining the initial LQR controller, minimizing the following cost function J:

[0011] Where Q and R are selected constant weight matrices, x ref represents the reference state variable, and x represents the state variable.

[0012] Optionally, determining an extended state observer according to the state-space equation includes: determining the extended state observer to be expressed as:

[0013]

[0014] in are the observed values ​​of state variables x, x5, and x6 respectively. Matrix L is the observer gain matrix. y represents the output. is the coefficient matrix.

[0015] Optionally, the target LQR controller is used in vehicle control, and the control law of the target LQR controller is expressed as:

[0016]

[0017] Among them, -K Tr is the feedback gain coefficient of the initial LQR controller, K d is the interference compensation coefficient, is the estimated state variable, is the estimated amount of external interference.

[0018] Optionally, the estimated external interference amount That is, there are two external disturbances d2 and d1.

[0019] Optionally, the interference compensation coefficient K d Determined by the following formula:

[0020]

[0021] Where A, B, C0, and D are coefficient matrices.

[0022] In a second aspect, the present invention provides a vehicle lateral control device, comprising: a first determination module for establishing a kinematic equation of the vehicle, and determining the state equation of the vehicle by the kinematic equation Where X represents the state variable and u represents the input quantity; the second determination module is used to determine the state equation of the vehicle at a given series of reference moments in combination with a given reference path: The variable with the subscript r in the formula represents a reference path variable; a third determination module is used to determine an initial LQR controller based on the state equation at a given series of reference moments; an establishment module is used to establish a state-space equation; the state-space equation has at least two state variables, one of which is used to reflect the system noise of the vehicle, and the remaining state variables are used to reflect external interference; a fourth determination module is used to determine an extended state observer based on the state-space equation; a combination module is used to combine the initial LQR controller and the extended state observer to generate a target LQR controller with the extended state observer, and use the target LQR controller for vehicle control.

[0023] In a third aspect, the present invention provides an electronic device comprising: a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the vehicle lateral control method as described in the first aspect are implemented.

[0024] In a fourth aspect, the present invention provides a readable storage medium storing a program or instruction, which, when executed by a processor, implements the steps of the vehicle lateral control method as described in the first aspect.

[0025] Compared with the prior art, the present invention has the following advantages: first, the kinematic equation of the vehicle is established based on the vehicle motion characteristics, and then, combined with a given reference path, the state equation of the vehicle at a given series of reference times is determined, and then the initial LQR controller is determined. The extended state observer is determined based on the state-space equation, and finally a target LQR controller with the extended state observer is generated. The target LQR controller is used for vehicle control, thereby having higher tracking accuracy, a certain inhibitory effect on external interference lateral control and feedback noise, and being able to ensure the robustness and control accuracy of the vehicle control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are included to provide a further understanding of the present invention, are incorporated into and constitute a part of this invention, illustrate embodiments of the present invention, and together with this specification serve to explain the principles of the present invention. In the drawings:

[0027] Figure 1 1 is a flow chart of a vehicle lateral control method according to an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of a vehicle kinematic model in one embodiment of the present invention;

[0029] Figure 3 is a block diagram of a controller according to an embodiment of the present invention;

[0030] Figure 4 is a schematic structural diagram of a vehicle lateral control device according to an embodiment of the present invention;

[0031] Figure 5 It is a structural schematic diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of the present invention. Those skilled in the art can apply the present invention to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0033] As used herein and in the claims, unless the context clearly indicates otherwise, the terms "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0034] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0035] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and should not be construed as limiting the scope of protection of the present invention. Furthermore, while the terms used in the present invention are selected from commonly known and commonly used terms, some terms mentioned in the present specification may have been selected at the applicant's discretion, and their detailed meanings are explained in the relevant sections of the present description. Furthermore, it is required that the present invention be understood not only by the actual terms used, but also by the meaning implied by each term.

[0036] Flowcharts are used in this disclosure to illustrate the operations performed by systems according to embodiments of the present invention. It should be understood that the preceding or following operations do not necessarily need to be performed in exact order. Instead, various steps may be performed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0037] Example 1

[0038] Figure 1 This is a flow chart of a vehicle lateral control method according to an embodiment of the present invention, with reference to Figure 1 , the method 100 includes:

[0039] S110: Establish a kinematic equation for the vehicle, and determine the state equation of the vehicle from the kinematic equation. Where X represents the state variable and u represents the input quantity.

[0040] Figure 2 This is a schematic diagram of a vehicle kinematic model in one embodiment of the present invention, with reference to Figure 2, θ is the heading angle, which is the angle formed by the longitudinal axis of the vehicle body and the positive direction of the transverse coordinate axis. The equivalent front wheel turning angle δ is the angle between the longitudinal axis of the vehicle body and the longitudinal axis of the front wheel projection on the ground. f , v are the velocities of the center points of the front and rear axles of the vehicle, (x f ,y f )、(x r ,y r ) are the coordinates of the center points of the front and rear axles of the vehicle respectively.

[0041] In some embodiments, the vehicle's posture is represented by the coordinates of the midpoint of the vehicle's rear wheels and the vehicle's heading angle. That is, during driving, with the center of the rear axle as the reference point, the vehicle's posture is represented by the coordinates of the midpoint of the rear wheels and the vehicle's heading angle, which can be described as P = (x, y, θ) T Therefore, the kinematic equation of the vehicle can be expressed in matrix form as:

[0042]

[0043] In the formula, v represents the speed of the vehicle, which also refers to the speed of the center point of the vehicle's rear axle, and w represents the acceleration of the vehicle. From formula (1), it can be seen that the vehicle system can be regarded as a control system with input u(v,δ) and state variables X(x,y,θ). Therefore, the state equation of the vehicle is determined by the kinematic equation

[0044]

[0045] Where X represents the state variable and u represents the input quantity.

[0046] S120: Based on a given reference path, determine the state equation of the vehicle at a given series of reference moments as: Variables with subscript r in the formula represent reference path variables.

[0047] In some embodiments, for a given reference parking path, for example, assuming that the center of the vehicle's rear axle has passed every reference point on the path, a series of state variables and control variables at each moment are generated, with the letter r representing the reference path variable. The state variables and control variables of the vehicle at any moment on the path can be expressed as:

[0048]

[0049] Where: X r =[x r ,y r ,θ r ] T ,u r =[v r ,δr ] T . Apply equation (3) at point (ξ r ,u r ) and perform a first-order Taylor expansion at , we can get:

[0050]

[0051] Substituting formula (3) into formula (4) we get

[0052]

[0053] make Therefore, formula (5) can be simplified as follows:

[0054]

[0055] Where:

[0056] S130. Determine an initial LQR controller according to the state equation at a given series of reference moments.

[0057] In this embodiment, in order to ensure the tracking performance of the system, an LQR controller is designed for the vehicle motion control model, which is a full-state feedback controller.

[0058] In some implementations, in order to increase the bandwidth of the system and reduce the tracking error, it is necessary to minimize the following cost function J:

[0059]

[0060] Where Q and R are constant weight matrices that need to be appropriately selected, x ref represents the reference state variable, and x represents the state variable. The control law of the LQR controller can be expressed as:

[0061] u Tr =-K Tr x

[0062] Find K using the Riccati equation Tr :

[0063]

[0064] S140. Establish a state-space equation; the state-space equation has at least two state variables, one of which is used to reflect the system noise of the vehicle, and the remaining state variables are used to reflect external interference.

[0065] Since there is external disturbance d during the movement of the vehicle, the standard extended state observer is not applicable to it. Therefore, an improved extended state observer (also known as generalized extended state observer) is designed for the vehicle control system to observe the system's state variables and external disturbances, and use the observed values ​​to compensate for the external disturbances.

[0066] In some embodiments, to facilitate observer design, system (6) is simplified to

[0067]

[0068] Adding two extended state variables x5=d2, x6=d1, the extended state space equation of system (7) can be expressed as:

[0069]

[0070] Among them, A, B, C, D, E, C0 are coefficient matrices, and each state variable is The matrices in the formula are

[0071]

[0072] S150: Determine an extended state observer according to the state-space equation.

[0073] The following state expansion observer is designed for system (8):

[0074]

[0075] in are the observed values ​​of state variables x, x5, and x6 respectively. Matrix L is the observer gain matrix. y represents the output. is the coefficient matrix.

[0076] In some implementations, the estimated error of each state variable of the observer is defined as:

[0077]

[0078] Combining equations (8) and (10), the estimation error equation can be expressed as

[0079]

[0080] Where e=[e x e d2 e d1 ] T , Choosing an appropriate observer gain vector L can make the matrix A eis the Hurwitz matrix.

[0081] S160 : Combining the initial LQR controller and the extended state observer, generating a target LQR controller with the extended state observer, and using the target LQR controller for vehicle control.

[0082] Due to the existence of external disturbances, the standard extended state observer control law cannot effectively compensate for its impact. Figure 3 This is a block diagram of a controller in one embodiment of the present invention, refer to Figure 3 , generating a target LQR controller with an extended state observer (generalized extended state observer), whose control law is as follows:

[0083]

[0084] Among them, -K Tr is the feedback gain coefficient of the initial LQR controller, K d is the interference compensation coefficient, is the estimated state variable, is the estimated external disturbance. Since the feedback signal received by the vehicle control system will be affected by interference noise, which will affect the system tracking performance to a certain extent, using the observed state variable of the extended state observer as the tracking controller feedback can effectively solve the problem caused by the influence of the feedback signal.

[0085] In some embodiments, the estimated external interference amount That is, there are two external disturbances d2 and d1.

[0086] In some embodiments, the interference compensation coefficient K d Determined by the following formula:

[0087]

[0088] Among them, A, B, C0, and D are coefficient matrices, and the interference compensation coefficient K d This applies to both interference that does not meet the matching conditions and interference that meets the matching conditions.

[0089] The vehicle lateral control method provided in this embodiment first establishes the vehicle's kinematic equations based on the vehicle's motion characteristics. Then, based on a given reference path, the vehicle's state equations at a given series of reference moments are determined, and then an initial LQR controller is determined. An extended state observer is determined based on the state-space equations, and finally a target LQR controller with an extended state observer is generated. The target LQR controller is used for vehicle control, resulting in high tracking accuracy, a certain degree of suppression of external interference lateral control and feedback noise, and the ability to ensure the robustness and control accuracy of the vehicle control system.

[0090] Example 2

[0091] Figure 4 This is a schematic diagram of the structure of a vehicle lateral control device according to an embodiment of the present invention, with reference to Figure 4 , the device 400 mainly includes:

[0092] The first determination module 401 is used to establish a kinematic equation of the vehicle and determine the state equation of the vehicle from the kinematic equation. Where X represents the state variable and u represents the input quantity.

[0093] In some embodiments, establishing the kinematic equation of the vehicle includes expressing the vehicle's posture using the coordinates of the vehicle's rear wheel midpoint position and the vehicle's heading angle, that is, posture P = (x, y, θ) T , where x and y represent the coordinates of the vehicle, and θ is the heading angle of the vehicle.

[0094] The kinematic equation of the vehicle can be expressed as:

[0095]

[0096] Where v and w represent the speed and acceleration of the vehicle respectively.

[0097] The second determining module 402 is used to determine the state equation of the vehicle at a given series of reference moments in combination with a given reference path: Variables with subscript r in the formula represent reference path variables.

[0098] The third determination module 403 is configured to determine an initial LQR controller according to the state equations at a given series of reference moments.

[0099] In some embodiments, determining the initial LQR controller based on the state equations at a given series of reference times includes minimizing the following cost function J when determining the initial LQR controller.

[0100] Where Q and R are selected constant weight matrices, x ref represents the reference state variable, and x represents the state variable.

[0101] The establishing module 404 is used to establish a state-space equation; the state-space equation has at least two state variables, one of which is used to reflect the system noise of the vehicle, and the other state variables are used to reflect external interference.

[0102] The fourth determining module 405 is configured to determine an extended state observer according to the state-space equation.

[0103] In some embodiments, determining an extended state observer (generalized extended state observer) according to the state-space equation includes determining that the extended state observer can be expressed as:

[0104]

[0105] in are the observed values ​​of state variables x, x5, and x6 respectively. Matrix L is the observer gain matrix. y represents the output. is the coefficient matrix.

[0106] The combining module 406 is configured to combine the initial LQR controller and the extended state observer to generate a target LQR controller with the extended state observer, and use the target LQR controller for vehicle control.

[0107] In some implementations, the target LQR controller is used in vehicle control, and the control law of the target LQR controller can be expressed as:

[0108]

[0109] Among them, -K Tr is the feedback gain coefficient of the initial LQR controller, K d is the interference compensation coefficient, is the estimated state variable, is the estimated amount of external interference.

[0110] In some embodiments, the interference compensation coefficient K d Determined by the following formula:

[0111]

[0112] Where A, B, C0, and D are coefficient matrices.

[0113] For details of other operations performed by each module in this embodiment, please refer to the previous embodiment and will not be elaborated here.

[0114] The vehicle lateral control device provided in this embodiment first establishes the vehicle's kinematic equations based on the vehicle's motion characteristics. Then, in combination with a given reference path, the vehicle's state equations at a given series of reference times are determined, and then an initial LQR controller is determined. An extended state observer is determined based on the state-space equations, and finally a target LQR controller with an extended state observer is generated. The target LQR controller is used for vehicle control, thereby having high tracking accuracy, a certain degree of suppression effect on external interference lateral control and feedback noise, and can ensure the robustness and control accuracy of the vehicle control system.

[0115] A vehicle lateral control device in an embodiment of the present application may be a device, or a component, integrated circuit, or chip in a terminal. A vehicle lateral control device in an embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, and is not specifically limited in the present embodiment.

[0116] like Figure 5 As shown, an embodiment of the present application also provides an electronic device 500, including a processor 501, a memory 502, and a program or instruction stored in the memory 502 and executable on the processor 501. When the program or instruction is executed by the processor 501, each process of the above-mentioned vehicle lateral control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0117] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned vehicle lateral control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0118] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0119] A computer-readable medium may include a propagated data signal embodying computer program code, for example, in baseband or as part of a carrier wave. The propagated signal may be in a variety of forms, including electromagnetic, optical, etc., or a suitable combination thereof. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium that can be connected to an instruction execution system, apparatus, or device to communicate, propagate, or transmit the program for use. The program code on the computer-readable medium may be transmitted via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above.

[0120] For those skilled in the art, the above disclosure is provided for illustrative purposes only and does not constitute a limitation of the present invention. Although not expressly provided herein, those skilled in the art may make various modifications, improvements, and revisions to the present invention. Such modifications, improvements, and revisions are suggested in the present invention and remain within the spirit and scope of the exemplary embodiments of the present invention.

[0121] At the same time, the present invention uses specific terms to describe the embodiments of the present invention. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic associated with at least one embodiment of the present invention. Therefore, it should be emphasized and noted that the mention of "one embodiment," "an embodiment," or "an alternative embodiment" two or more times in different places in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the present invention may be appropriately combined.

[0122] Some aspects of the present invention may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, various aspects of the present invention may be embodied as computer products located in one or more computer-readable media, which include computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic tapes, etc.), optical disks (e.g., compact disks CDs, digital versatile disks DVDs, etc.), smart cards, and flash memory devices (e.g., cards, sticks, key drives, etc.).

[0123] Similarly, it should be noted that, in order to simplify the presentation of the present disclosure and facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of the invention sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not imply that the subject matter of the invention requires more features than those recited in the claims. In practice, an embodiment may have fewer features than the totality of the features of a single embodiment disclosed above.

[0124] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required characteristics of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present invention are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0125] Although the present invention has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present invention, and various equivalent changes or substitutions can be made without departing from the spirit of the present invention. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present invention, they will fall within the scope of the claims of the present invention.

Claims

1. A vehicle lateral control method, characterized in that: include: Establish the kinematic equation of the vehicle and determine the state equation of the vehicle from the kinematic equation Where X represents the state variable and u represents the input quantity; Combined with the given reference path, the state equation of the vehicle at a given series of reference moments is determined as Variables with subscript r in the formula represent reference path variables; determining an initial LQR controller based on the state equation for a given series of reference moments; Establishing a state-space equation; the state-space equation has at least two state variables, one of which is used to reflect the system noise of the vehicle, and the remaining state variables are used to reflect external interference; determining an extended state observer according to the state-space equation; combining the initial LQR controller and the extended state observer to generate a target LQR controller with the extended state observer, and using the target LQR controller for vehicle control; When determining the initial LQR controller, the following cost function J needs to be minimized: Where Q and R are selected constant weight matrices, x ref represents the reference state variable, and x represents the state variable; The target LQR controller is used in vehicle control, and the control law of the target LQR controller is expressed as: Among them, -K Tr is the feedback gain coefficient of the initial LQR controller, K d is the interference compensation coefficient, is the estimated state variable, is the estimated amount of external interference; The estimated external disturbance amount That is, there are two external disturbances d2 and d1.

2. The vehicle lateral control method according to claim 1, characterized in that: The kinematic equations of the vehicle are established as follows: The vehicle's position is represented by the coordinates of the midpoint of the vehicle's rear wheels and the vehicle's heading angle, that is, position P = (x, y, θ) T , where x and y represent the coordinates of the vehicle, and θ is the heading angle of the vehicle; The kinematic equation of the vehicle is expressed as: Wherein v and w represent the speed and acceleration of the vehicle respectively.

3. The vehicle lateral control method according to claim 1, characterized in that: Determining an extended state observer according to the state space equation includes: The determined extended state observer is expressed as: in are the observed values ​​of state variables x, x5, and x6 respectively. Matrix L is the observer gain matrix. y represents the output. is the coefficient matrix.

4. The vehicle lateral control method according to claim 1, characterized in that: The interference compensation coefficient K d Determined by the following formula: K d =-[C0(A-BK Tr ) -1 B] -1 C0(A-BK Tr ) -1 D Where A, B, C0, and D are coefficient matrices.

5. A vehicle lateral control device, used to implement the vehicle lateral control method according to any one of claims 1 to 4, characterized in that: include: The first determination module is used to establish the kinematic equation of the vehicle and determine the state equation of the vehicle from the kinematic equation. Where X represents the state variable and u represents the input quantity; The second determination module is used to determine the state equation of the vehicle at a given series of reference moments in combination with a given reference path: Variables with subscript r in the formula represent reference path variables; a third determination module, configured to determine an initial LQR controller according to the state equation at a given series of reference moments; An establishment module is used to establish a state space equation; the state space equation has at least two state variables, one of which is used to reflect the system noise of the vehicle, and the other state variables are used to reflect external interference; a fourth determining module, configured to determine an extended state observer according to the state-space equation; A combining module is configured to combine the initial LQR controller and the extended state observer to generate a target LQR controller with the extended state observer, and use the target LQR controller for vehicle control.

6. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle lateral control method according to any one of claims 1 to 4 are implemented.

7. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the vehicle lateral control method according to any one of claims 1 to 4 are implemented.

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