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Automatic driving vehicle transverse coordination control method based on extendable priority-degree evaluating

A technology of automatic driving and coordinated control, applied in the field of automatic driving vehicle control system, can solve problems such as poor overall control effect, and achieve the effect of improving jitter, high comfort, and stable control process

Active Publication Date: 2019-05-10
JIANGSU UNIV
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  • Application Information

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Problems solved by technology

However, the above-mentioned control method has many limitations, or the control effect is better under specific working conditions, but the overall control effect is not good under mixed and complex working conditions.
[0004] Vehicle control is a multi-input and multi-output system, and the road environment of the vehicle needs to be considered in the lateral control of the vehicle, so the above-mentioned control method has many limitations.

Method used

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  • Automatic driving vehicle transverse coordination control method based on extendable priority-degree evaluating
  • Automatic driving vehicle transverse coordination control method based on extendable priority-degree evaluating
  • Automatic driving vehicle transverse coordination control method based on extendable priority-degree evaluating

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Embodiment Construction

[0035] 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.

[0036] figure 1 It is a flow chart of a horizontal coordination control method for an automatic driving vehicle based on the evaluation of extension goodness, and the method of the present invention includes designing an upper-level controller and a lower-level controller, specifically as follows:

[0037] Upper controller: Obtain the vehicle-road state quantity collected from the vehicle sensor, the lateral position deviation e between the vehicle and the road centerline p , the heading deviation between the vehicle and the road centerline vehicle yaw rate and the road centerline curvature ρ. The vehicle-road state quantity is input into the PID feedback controller and the PID feedforward-feedback controller respectively as the input value, and the correspondi...

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Abstract

The invention discloses an automatic driving vehicle transverse coordination control method based on extendable priority-degree evaluating. An upper-layer controller is designed, specifically, the transverse position deviation e of a vehicle and a road center line, the course deviation phi<r> of the vehicle and the road center line, the vehicle heading angle speed dot{phi} and the curvature rhoof the road center line are obtained and input into a PID feedback controller and a PID feedforward-feedback controller correspondingly, front wheel rotation angles delta<f1> and delta<f2> of the vehicle are output correspondingly, output values are substituted into an evaluation index prediction model, two sets of corresponding vehicle-road prediction state quantities are obtained, the vehicle-road prediction state quantities are evaluated through a priority-degree evaluating method, the result with the high priority degree is selected, and the front wheel rotation angle corresponding to theresult serves as an output value to be input into a lower-layer controller; and the lower-layer controller calculates a correlation function K(S) through the transverse position deviation e of thecurrent vehicle and the road center line and the curvature rho of the road center line, delta<f> is coordinated through the correlation function K(S), the coordinated front wheel rotation angle is output to a vehicle-road state spatial equation, and an actual front wheel rotation angle is obtained.

Description

technical field [0001] The invention belongs to the technical field of control systems for automatic driving vehicles, and in particular relates to a lateral coordination control method for automatic driving vehicles based on extension goodness evaluation. Background technique [0002] As a main research content in the field of intelligent traffic control, intelligent vehicle integrates a variety of modern electronic information technologies. With the current society's increasing demand for intelligent and safe modern vehicles, intelligent vehicles have become a hot issue and technological frontier in the field of transportation in various countries in the world. Research on vehicle lateral control (lane keeping, vehicle lane changing) has received more and more attention as a part of the field of intelligent vehicle research. [0003] Vehicle lateral control means that when the vehicle is driving along the desired path, through algorithmic decision-making and the action of...

Claims

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Application Information

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IPC IPC(8): B60W30/12B60W30/02
Inventor 蔡英凤秦顺琪臧勇孙晓强陈特蔡骏宇陈龙江浩斌唐斌徐兴何友国袁朝春
Owner JIANGSU UNIV
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