CN114275039B - Intelligent driving vehicle transverse control method and module - Google Patents
Intelligent driving vehicle transverse control method and module Download PDFInfo
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- CN114275039B CN114275039B CN202111614350.3A CN202111614350A CN114275039B CN 114275039 B CN114275039 B CN 114275039B CN 202111614350 A CN202111614350 A CN 202111614350A CN 114275039 B CN114275039 B CN 114275039B
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Abstract
The invention discloses a transverse control method for an intelligent driving vehicle, which comprises the following steps: forming a vehicle transverse expected track; x is to be 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Providing control torque or steering angle to electric power steering, x 1 First specified near point X-axis position, y 1 A first near point Y axis position deviation; x is to be 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Providing control torque or steering angle to electric power steering, x 2 First designated remote point X-axis position, y 2 A first distance point Y-axis position deviation; x is to be 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Providing control torque or steering angle to electric power steering, x 3 Second near point X-axis position, a 1 Is the near point course angle deviation; x is to be 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing control torque or steering angle to electric power steering, x 5 Is the first designated point; and performing transverse control according to the control torque or the steering angle to the electric power steering.
Description
Technical Field
The invention relates to the field of automobiles, in particular to an intelligent driving vehicle transverse control method and an intelligent driving vehicle transverse control module.
Background
In intelligent driving (including advanced assistant driving and unmanned driving) products, the expected track of the transverse function is generally obtained according to a lane line identified by a camera, a historical track of a nearest vehicle on a driving path or a global and local track given by a path planning module. The transverse control module dynamically adjusts the steering wheel angle or the torque according to the position deviation or the course angle deviation of the vehicle and the expected track, so that the vehicle runs according to the expected track.
Vehicle tires, suspension, and electric power steering systems vary in construction and characteristics from vehicle model to vehicle model, and even for the same vehicle model, there is a possibility that the systems are provided by multiple suppliers and their performance will vary. For some vehicle models, lateral control can allow the vehicle to better follow a desired trajectory using only one point bias or only one point heading angle bias. However, for most vehicle models, the control scheme requires constant adaptation. Therefore, a universal lateral control scheme needs to be provided, and the applicability of the lateral control scheme is improved.
Disclosure of Invention
In the summary section a series of simplified form concepts are introduced, which are all simplifications of the prior art in this field, which will be further detailed in the detailed description section. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The invention aims to provide an intelligent driving vehicle transverse control method based on deviation, course angle and feedforward.
The invention also provides an intelligent driving vehicle transverse control module based on deviation, course angle and feedforward.
In order to solve the technical problem, the invention provides a method for controlling a vehicle to drive intelligently in the transverse direction, which comprises the following steps:
s1, establishing a designated coordinate system to form a transverse expected track of the vehicle;
s2, controlling the deviation of the near point position, and dividing x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Using PID control to provide a first part of control torque orCorner to electric power steering, x 1 Is the first specified near point X-axis position, y 1 Is the first near point Y axis position offset;
s3, controlling the deviation of the far point position and converting x into x 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Using PID control to provide a second portion of control torque or steering angle to electric power steering, x 2 Is the first designated remote point X-axis position, y 2 Is the first distance point Y-axis position deviation;
s4, controlling the deviation of the heading angle of the near point, and converting x into x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Using PID control to provide a third portion of control torque or steering angle to electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the near point course angle deviation;
s5, single-point curvature feedforward control, and x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is the first designated point;
alternatively, can be based on y 5 "look-up table for providing fourth partial control torque or steering angle to electric power steering, said table being y obtained by calibration 5 "one-dimensional table relating to control torque or turning angle;
alternatively, can be based on y 5 "calculating control Torque or Angle of rotation, T = K × y 5 K is a designated coefficient, and T is an output control torque or a rotation angle;
and S6, taking the sum of the control torques or the steering angles of the first part to the fourth part as the control torque or the steering angle of the final conveying electric power steering.
Optionally, the method for controlling the lateral direction of the intelligent driving vehicle is further improved, and the step S5' is executed after the step S5 is executed, and then the step S6 is executed;
s5', controlling the course angle deviation P of the far point, and converting x 4 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 2 According to a 2 Providing a fifth part control knob using PID controlTorque or steering angle to electric power steering, x 4 Is the second designated remote X-axis position, a 2 Is the far point course angle deviation;
and S6', and finally, the sum of the control torques or the steering angles of the first part to the fifth part is used as the control torque or the steering angle of the electric power steering.
Optionally, the method for controlling the transverse direction of the intelligent driving vehicle is further improved, and when the step S1 is executed, a specified coordinate system is established with the center of the rear axle of the vehicle as the origin of the coordinate system, the driving direction of the vehicle is the X axis, and the vertical driving direction of the vehicle is the Y axis.
Optionally, the method for controlling the lateral direction of the intelligent driving vehicle is further improved, and the expression of the lateral expected trajectory of the vehicle is as follows: y = c 0 +c 1 x+c 2 x 2 +c 3 x 3 ；
The first derivative of the lateral expected trajectory of the vehicle is: y' = c 1 +2c 2 x+3c 3 x 2 ；
The second derivative of the desired vehicle lateral trajectory is: y "=2c 2 +6c 3 x；
c 0 As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c 1 、c 2 And c 3 Are given coefficients. c. C 1 、c 2 And c 3 Typically derived by a camera provider or lane line fusion algorithm,
optionally, the method for controlling the transverse direction of the intelligent driving vehicle is further improved, x 1 It is possible to select an arbitrary point, e.g. x 1 A coordinate origin is selected.
Optionally, the method for controlling the transverse direction of the intelligent driving vehicle is further improved, x 2 According to c 2 Or the vehicle speed is obtained by inquiring a calibration table. The calibration table is a one-dimensional table look-up and is a calibration table of c2 or the vehicle speed and x 2.
Optionally, the method for controlling the lateral direction of the intelligent driving vehicle is further improved, and the deviation a of the near-point heading angle 1 ＝atan(y 3 ’)*57.3。
Optionally, the intelligent driving vehicle is further improvedLateral control method, far point course angle deviation a 2 ＝atan(y 4 ’)*57.3。
Alternatively, the method for controlling the transverse direction of the intelligent driving vehicle is further improved, and the control torque or the rotation angle of the first part to the fourth part can be obtained through PID control.
In order to solve the above technical problem, the present invention provides a lateral control module for an intelligent driving vehicle, comprising:
the expected track generating unit is used for establishing a specified coordinate system and forming a transverse expected track of the vehicle;
a near point position deviation control unit for controlling x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Using PID control to provide a first portion of control torque or steering angle to electric power steering, x 1 Is the first designated near point X-axis position, y 1 Is the first near point Y axis position offset;
a remote position deviation control unit for controlling the distance x 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Using PID control to provide a second portion of control torque or steering angle to electric power steering, x 2 Is the first designated remote point X-axis position, y 2 Is the first distance point Y-axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Using PID control to provide a third portion of control torque or steering angle to electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the near point course angle deviation;
a single point curvature feedforward control unit, converting x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is a first designated point;
and a lateral control unit which is used for finally transmitting the control torque or the steering angle of the electric power steering according to the sum of the control torques or the steering angles of the first part to the fourth part.
Optionally, the intelligent driving vehicle lateral control module is further improved, and the intelligent driving vehicle lateral control module further comprises:
a far-point course angle deviation P control unit which controls x 4 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 2 According to a 2 Using PID control to provide a fifth portion of control torque or steering angle to electric power steering, x 4 Is the second designated remote point X-axis position, a 2 Is the far point course angle deviation;
and a transverse control unit for controlling the transverse control from the torque or the steering angle to (how to) the electric power steering according to the first part to the fifth part.
Optionally, the intelligent driving vehicle lateral control module is further improved, wherein the designated coordinate system takes the center of the rear axle of the vehicle as the origin of the coordinate system, the vehicle driving direction is an X-axis, and the vertical vehicle driving direction is a Y-axis.
Optionally, the intelligent driving vehicle lateral control module is further improved, and the expression of the vehicle lateral expected trajectory is as follows: y = c 0 +c 1 x+c 2 x 2 +c 3 x 3 ；
The first derivative of the desired trajectory for the vehicle lateral direction is: y' = c 1 +2c 2 x+3c 3 x 2 ；
The second derivative of the desired vehicle lateral trajectory is: y "=2c 2 +6c 3 x；
c 0 As a position deviation between the vehicle and the desired trajectory at the origin of coordinates, c 1 、c 2 And c 3 To specify the coefficients.
Optionally, the intelligent driving vehicle transverse control module x is further improved 1 A coordinate origin is selected.
Optionally, the intelligent driving vehicle transverse control module x is further improved 2 According to c 2 Or the vehicle speed is obtained by inquiring a calibration table.
Optionally, the intelligent driving vehicle transverse control module is further improved, and the near-point heading angle deviation a 1 ＝atan(y 3 ’)*57.3。
Optionally, the intelligent driving vehicle transverse control module is further improved, and the far point course angle deviation a 2 ＝atan(y 4 ’)*57.3。
Optionally, the intelligent driving vehicle transverse control module is further improved, and the control torque or the rotation angle of the first part to the fourth part can be obtained through PID control.
The invention controls the transverse displacement of the vehicle from five dimensions of near point position deviation control, far point position deviation control, near point course angle deviation control, far point course angle deviation control and single point curvature feedforward control based on deviation, course angle and feedforward, fully considers the influence of each dimension on the transverse displacement of the vehicle, and can expand the applicability, accuracy and safety of the transverse control.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification. The drawings are not necessarily to scale, however, and may not be intended to accurately reflect the precise structural or performance characteristics of any given embodiment, and should not be construed as limiting or restricting the scope of values or properties encompassed by exemplary embodiments in accordance with the invention. The invention is described in further detail below with reference to the following figures and embodiments:
FIG. 1 is a schematic diagram of the coordinate system, the expected trajectory and the positions of the points according to the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. The following exemplary embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the technical solutions of these exemplary embodiments to those skilled in the art. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present. Like reference numerals refer to like elements throughout the drawings.
A first embodiment;
the invention provides an intelligent driving vehicle transverse control method, which comprises the following steps:
s1, establishing a designated coordinate system to form a transverse expected track of the vehicle;
s2, near point position deviation control, x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Providing a first portion of control torque or steering angle to the electric power steering, x 1 Is the first designated near point X-axis position, y 1 Is the first near point Y axis position offset;
s3, controlling the deviation of the far point position and converting x into x 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Providing a second portion of control torque or steering angle to the electric power steering, x 2 Is the first specified distance point X-axis position, y 2 Is the first distance point Y axis position deviation;
s4, controlling the deviation of the heading angle of the approach point, and converting x into x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Providing a third portion of control torque or steering angle to the electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the near point course angle deviation;
s5, single-point curvature feedforward control, and x 5 Calculating the second derivative of the transverse expected track of the vehicley 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is the first designated point;
and S6, taking the sum of the control torques or the steering angles of the first part to the fourth part as the control torque or the steering angle of the final conveying electric power steering.
A second embodiment;
the invention provides a method for controlling a vehicle to move transversely in an intelligent driving manner, which comprises the following steps:
s1, establishing a designated coordinate system to form a transverse expected track of the vehicle;
s2, controlling the deviation of the near point position, and dividing x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Providing a first portion of control torque or steering angle to the electric power steering, x 1 Is the first designated near point X-axis position, y 1 Is the first near point Y axis position offset;
s3, controlling the deviation of the far point position and converting x into x 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Providing a second portion of control torque or steering angle to the electric power steering, x 2 Is the first designated remote point X-axis position, y 2 Is the first distance point Y axis position deviation;
s4, controlling the deviation of the heading angle of the near point, and converting x into x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Providing a third portion of control torque or steering angle to the electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the heading angle deviation at the approach point;
s5, single-point curvature feedforward control, and x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is the first designated point;
s5', controlling the course angle deviation P of the far point, and converting x 4 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 2 According to a 2 Providing a fifth part of control torque or steering angle to electric power steering，x 4 Is the second designated remote X-axis position, a 2 Is the far point course angle deviation;
and S6', and finally, the sum of the control torques or the steering angles of the first part to the fifth part is used as the control torque or the steering angle of the electric power steering.
A third embodiment;
referring to fig. 1, the present invention provides a method for controlling a lateral direction of an intelligent driving vehicle, comprising the steps of:
s1, establishing a coordinate system by taking the center of a rear axle of a vehicle as an origin of the coordinate system, taking the driving direction of the vehicle as an X axis and taking the direction vertical to the driving direction of the vehicle as a Y axis to form a transverse expected track of the vehicle;
the vehicle lateral expected trajectory expression is: y = c 0 +c 1 x+c 2 x 2 +c 3 x 3 ；
c 0 As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c 1 、c 2 And c 3 To specify the coefficients.
S2, near point position deviation control, x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Using PID control to provide a first portion of control torque or steering angle to electric power steering, x 1 Is the first designated near point X-axis position, X 1 Selecting origin of coordinates, y 1 Is the first near point Y axis position offset;
s3, controlling the deviation of the far point position and converting x into x 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Using PID control to provide a second portion of control torque or steering angle to electric power steering, x 2 Is the first designated remote point X-axis position, X 2 According to c 2 Or the vehicle speed is obtained by inquiring a calibration table, y 2 Is the first distance point Y axis position deviation;
s4, controlling the deviation of the heading angle of the near point, and converting x into x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Using PID control to provide a third portion of control torque or steering angle to electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the near point course angle deviation, the near point course angle deviation a 1 ＝atan(y 3 ') 57.3; the first derivative of the lateral expected trajectory of the vehicle is: y' = c 1 +2c 2 x+3c 3 x 2 ；
S5, single-point curvature feedforward control, and x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is a first designated point; the second derivative of the vehicle lateral expected trajectory is: y "=2c 2 +6c 3 x；
S5', controlling the course angle deviation P of the far point, and dividing x 4 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 2 According to a 2 Using PID control to provide a fifth portion of control torque or steering angle to electric power steering, x 4 Is the second designated remote point X-axis position, a 2 Is the course angle deviation of the far point, the course angle deviation a of the far point 2 ＝atan(y 4 ’)*57.3；
And S6', taking the sum of the control torques or steering angles of the first part to the fifth part as the control torque or steering angle of the final transmission electric power steering.
The PID control may be changed to P control, PI control, or PD control by adjusting the P value, I value, and D value.
Further, it will be understood that, although the terms first, second, etc. may be used herein to describe various elements, parameters, components, regions, layers and/or sections, these elements, parameters, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, parameter, component, region, layer or section from another element, parameter, component, region, layer or section. Thus, a first element, parameter, component, region, layer or section discussed below could be termed a second element, parameter, component, region, layer or section without departing from the teachings of exemplary embodiments according to the present invention.
A fourth embodiment;
the invention provides a transverse control module of an intelligent driving vehicle, which comprises:
the expected track generating unit is used for establishing a specified coordinate system and forming a transverse expected track of the vehicle;
a near point position deviation control unit for controlling x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Providing a first portion of control torque or steering angle to the electric power steering, x 1 Is the first designated near point X-axis position, y 1 Is the first near point Y axis position offset;
a remote position deviation control unit for controlling the distance x 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Providing a second portion of control torque or steering angle to the electric power steering, x 2 Is the first designated remote point X-axis position, y 2 Is the first distance point Y axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Providing a third portion of control torque or steering angle to the electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the near point course angle deviation, the near point course angle deviation a 1 ＝atan(y 3 ’)*57.3；
A single point curvature feedforward control unit for converting x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is the first designated point;
and a lateral control unit which is used for finally transmitting the control torque or the steering angle of the electric power steering according to the sum of the control torques or the steering angles of the first part to the fourth part.
A fifth embodiment;
the invention provides a transverse control module of an intelligent driving vehicle, which comprises:
the expected track generating unit is used for establishing a specified coordinate system and forming a transverse expected track of the vehicle;
near point position deviation controlA unit which converts x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Providing a first portion of control torque or steering angle to the electric power steering, x 1 Is the first designated near point X-axis position, y 1 Is the first near point Y axis position offset;
a remote position deviation control unit for controlling the distance x 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Providing a second portion of control torque or steering angle to the electric power steering, x 2 Is the first designated remote point X-axis position, y 2 Is the first distance point Y axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Providing a third portion of control torque or steering angle to the electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the near point course angle deviation, the near point course angle deviation a 1 ＝atan(y 3 ’)*57.3；
A single point curvature feedforward control unit for converting x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is the first designated point;
a far-point course angle deviation P control unit which controls x 4 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 2 According to a 2 Providing a fifth part of control torque or steering angle to the electric power steering, x 4 Is the second designated remote X-axis position, a 2 Is the far point course angle deviation;
and the transverse control unit is used for finally transmitting the control torque or the steering angle of the electric power steering according to the sum of the control torques or the steering angles of the first part to the fifth part.
A sixth embodiment;
the invention provides a transverse control module of an intelligent driving vehicle, which comprises:
a desired track generating unit with the center of the rear axle of the vehicle as the origin of the coordinate system and the traveling direction of the vehicle as XThe axis is vertical to the driving direction of the vehicle and is a Y axis, and a transverse expected track of the vehicle is formed; the vehicle lateral expected trajectory expression is: y = c 0 +c 1 x+c 2 x 2 +c 3 x 3 ；c 0 As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c 1 、c 2 And c 3 Is a specified coefficient;
a near point position deviation control unit for controlling x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Using PID control to provide a first portion of control torque or steering angle to electric power steering, x 1 Is the first designated near point X-axis position, X 1 Selecting origin of coordinates, y 1 Is the first near point Y axis position offset;
a remote point position deviation control unit for controlling the distance between the remote point and the remote point 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Using PID control to provide a second portion of control torque or steering angle to electric power steering, x 2 Is the first designated remote point X-axis position, X 2 According to c 2 Or the vehicle speed is obtained by inquiring a calibration table, y 2 Is the first distance point Y axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Using PID control to provide a third portion of control torque or steering angle to electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the near point course angle deviation, the near point course angle deviation a 1 ＝atan(y 3 ') 57.3; the first derivative of the lateral expected trajectory of the vehicle is: y' = c 1 +2c 2 x+3c 3 x 2 ；
A single point curvature feedforward control unit for converting x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is the first designated point; the second derivative of the vehicle lateral expected trajectory is: y "=2c 2 +6c 3 x；
Far-point course angle deviation controlUnit of x 4 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 2 According to a 2 Using PID control to provide a fifth portion of control torque or steering angle to electric power steering, x 4 Is the second specified X-axis position of the far point, the course angle deviation a of the far point 2 ＝atan(y 4 ’)*57.3，a 2 Is the far point course angle deviation;
the transverse control unit is used for finally transmitting the control torque or the steering angle of the electric power steering according to the sum of the control torques or the steering angles of the first part to the fifth part;
the PID control may be changed to P control, PI control, or PD control by adjusting the P value, I value, and D value.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (14)
1. A method for controlling the transverse direction of an intelligent driving vehicle is characterized by comprising the following steps:
s1, establishing a specified coordinate system to form a transverse expected track of the vehicle;
s2, near point position deviation control, x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Providing a first portion of control torque or steering angle to the electric power steering, x 1 Is the first designated near point X-axis position, y 1 Is the first near point Y axis position offset;
s3, controlling the deviation of the far point position and converting x into x 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Providing a second portion of control torque or steering angle to the electric power steering, x 2 Is the first designated remote point X-axis position, y 2 Is the first distance point Y axis position deviation;
s4, controlling the deviation of the heading angle of the near point, and converting x into x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Providing a third portion of control torque or steering angle to the electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the heading angle deviation at the approach point;
s5, single-point curvature feedforward control, and x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is the first designated point;
s5', controlling the course angle deviation P of the far point, and dividing x 4 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 2 According to a 2 Providing a fifth part of control torque or steering angle to the electric power steering, x 4 Is the second designated remote X-axis position, a 2 Is the far point course angle deviation;
and S6, taking the sum of the control torques or the turning angles of the first part to the fifth part as the control torque or the turning angle of the final conveying electric power steering.
2. The intelligent-drive vehicle lateral control method of claim 1, wherein: and step S1 is executed, a specified coordinate system is established by taking the center of the rear axle of the vehicle as the origin of the coordinate system, the driving direction of the vehicle as an X axis and the vertical driving direction of the vehicle as a Y axis.
3. The intelligent-drive vehicle lateral control method of claim 1, wherein:
the expression of the vehicle transverse expected track is as follows: y = c 0 +c 1 x+c 2 x 2 +c 3 x 3 (ii) a x is a vehicleThe position of the vehicle on the X axis of the specified coordinate system, and the position of the vehicle on the Y axis of the specified coordinate system;
the first derivative of the lateral expected trajectory of the vehicle is: y' = c 1 +2c 2 x+3c 3 x 2 ；
The second derivative of the vehicle lateral expected trajectory is: y "=2c 2 +6c 3 x；
c 0 As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c 1 、c 2 And c 3 To specify the coefficients.
4. The intelligent-drive vehicle lateral control method of claim 3, wherein: x is a radical of a fluorine atom 2 According to c 2 Or the vehicle speed is obtained by inquiring a calibration table.
5. The intelligent-drive vehicle lateral control method of claim 1, wherein:
near point course angular deviation a 1 =atan（y 3 ’）*57.3，y 3 Is x 3 And substituting the value calculated in the expression of the first derivative of the expected track of the vehicle in the transverse direction.
6. The intelligent-drive vehicle lateral control method of claim 2, wherein:
far point course angle deviation a 2 =atan（y 4 ’）*57.3，y 4 Is x 4 And substituting the value calculated in the expression of the first derivative of the expected track in the transverse direction of the vehicle.
7. The intelligent-drive vehicle lateral control method of claim 2, wherein: the control torque or the rotation angle of the first to fifth parts can be obtained by PID control.
8. A smart-driven vehicle lateral control module, comprising:
the expected track generating unit is used for establishing a specified coordinate system and forming a transverse expected track of the vehicle;
a near point position deviation control unit for controlling x 1 Substituting the vehicle transverse expected track into y 1 According to y 1 Providing a first portion of control torque or steering angle to the electric power steering, x 1 Is the first designated near point X-axis position, y 1 Is the first near point Y axis position offset;
a remote point position deviation control unit for controlling the distance between the remote point and the remote point 2 Substituting the vehicle transverse expected track into y 2 According to y 2 Providing a second portion of control torque or steering angle to the electric power steering, x 2 Is the first designated remote point X-axis position, y 2 Is the first distance point Y-axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x 3 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 1 According to a 1 Providing a third portion of control torque or steering angle to the electric power steering, x 3 Is the second designated approximate point X-axis position, a 1 Is the near point course angle deviation;
a single point curvature feedforward control unit for converting x 5 Calculating y by substituting second derivative of transverse expected track of vehicle 5 ", according to y 5 "dynamically providing a fourth portion of control torque or steering angle to electric power steering, x 5 Is the first designated point;
a far-point course angle deviation P control unit which controls x 4 Calculating a by substituting the first derivative of the transverse expected track of the vehicle 2 According to a 2 Providing a fifth part of control torque or steering angle to the electric power steering, x 4 Is the second designated remote X-axis position, a 2 Is the far point course angle deviation;
and the transverse control unit is used for taking the sum of the control torques or the rotation angles of the first part to the fifth part as the control torque or the rotation angle of the final conveying electric power steering.
9. The smart driving vehicle lateral control module of claim 8, wherein: the specified coordinate system takes the center of a rear axle of the vehicle as the origin of the coordinate system, the running direction of the vehicle is an X axis, and the vertical running direction of the vehicle is a Y axis.
10. The smart driving vehicle lateral control module of claim 8, wherein:
the expression of the vehicle transverse expected track is as follows: y = c 0 +c 1 x+c 2 x 2 +c 3 x 3 (ii) a X is the X-axis position of the vehicle in the designated coordinate system, and Y is the Y-axis position of the vehicle in the designated coordinate system;
the first derivative of the desired trajectory for the vehicle lateral direction is: y' = c 1 +2c 2 x+3c 3 x 2 ；
The second derivative of the vehicle lateral expected trajectory is: y "=2c 2 +6c 3 x；
c 0 As a position deviation between the vehicle and the desired trajectory at the origin of coordinates, c 1 、c 2 And c 3 To specify the coefficients.
11. The smart driving vehicle lateral control module of claim 10, wherein: x is the number of 2 According to c 2 Or the vehicle speed is obtained by inquiring a calibration table.
12. The smart driving vehicle lateral control module of claim 8, wherein: near point course angular deviation a 1 =atan（y 3 ’）*57.3 ，y 3 Is x 3 And substituting the value calculated in the expression of the first derivative of the expected track in the transverse direction of the vehicle.
13. The smart driving vehicle lateral control module of claim 10, wherein: far point course angle deviation a 2 =atan（y 4 ’）*57.3，y 4 Is x 4 And substituting the value calculated in the expression of the first derivative of the expected track in the transverse direction of the vehicle.
14. The smart driving vehicle lateral control module of claim 8, wherein: the control torque or the rotation angle of the first to fifth parts can be obtained by PID control.
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