Vehicle transverse control method and device based on cascade PID and vehicle

Abstract

The invention discloses a vehicle transverse control method and device based on cascade PID and a vehicle. The method comprises the steps: acquiring a first variable according to the driving state of a vehicle; respectively calculating a first predictive quantity and a second predictive quantity according to the first variable; calculating and outputting an expected course angle under the condition of a first self-adaptive parameter by taking the first predictive quantity as the input of a lateral error PID (Proportion Integration Differentiation) controller; and with the expected course angle as the steady state of a course angle PID controller, inputting the second predictive quantity, under the condition of a second self-adaptive parameter, calculating and outputting the steering wheel turning angle, and performing transverse control on the vehicle. The cascade PID control system is formed through the two PID controllers, closed-loop control is formed according to the vehicle speed, the lane curvature and the steering wheel turning angle which change in real time, excellent transverse control performance can be achieved under the conditions of different vehicle speeds and lane curvatures, and stability and comfort are high.

Description

technical field [0001] The present invention relates to the technical field of vehicle control, in particular to a cascaded PID-based vehicle lateral control method, device and vehicle. Background technique [0002] In the autonomous navigation of vehicles, lateral control refers to controlling the vehicle to automatically track the driving route under different conditions such as speed, load, road conditions and wind resistance, and to maintain certain comfort and stability requirements. In fact, it is the steering control of the vehicle. ; and due to the high longitudinal speed of the vehicle during driving, the fluctuation range of factors such as speed, load and tire cornering stiffness is relatively large, resulting in greater difficulty in lateral control. [0003] In the existing technology, the traditional PID control system is used for control, but it cannot take into account different vehicle speeds and different lane curvatures, because under different vehicle spe...

AI Technical Summary

Problems solved by technology

[0002] In the autonomous navigation of vehicles, lateral control refers to controlling the vehicle to automatically track the driving route under different conditions such as speed, load, road conditions and wind resistance, and to maintain certain comfort and stability requirements. In fact, it is the steering control of the vehicle. ; and due to the high longitudinal speed of the vehicle during driving, the fluctuation range of factors such as speed, load and tire cornering stiffness is relatively large, resulting in greater difficulty in lateral control

[0003] In the existing technology, the traditional PID control system is used for control, but it cannot take into account different vehicle speeds and different lane curvatures, because under different vehicle speeds and different lane curvatures, the dynamic response of the control system needs to be different from the steady-state response, and the current Some PID control systems are difficult to meet the requirements. The specific performance is that the steering wheel cannot be stabilized at low speeds, and the car body is swaying at high speeds, and it is easy to control failures under large lane curvatures.

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