CN114275039A - Intelligent driving vehicle transverse control method and module - Google Patents
Intelligent driving vehicle transverse control method and module Download PDFInfo
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- CN114275039A CN114275039A CN202111614350.3A CN202111614350A CN114275039A CN 114275039 A CN114275039 A CN 114275039A CN 202111614350 A CN202111614350 A CN 202111614350A CN 114275039 A CN114275039 A CN 114275039A
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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 be1Substituting the vehicle transverse expected track into y1According to y1Providing control torque or steering angle to electric power steering, x1First specified near point X-axis position, y1A first near point Y axis position deviation; x is to be2Substituting the vehicle transverse expected track into y2According to y2Providing control torque or steering angle to electric power steering, x2First designated remote point X-axis position, y2A first far point Y axis position deviation; x is to be3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Providing control torque or steering angle to electric power steering, x3Second designated near point X-axis position，a1Is the near point course angle deviation; x is to be5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing control torque or steering angle to electric power steering, x5Is 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, suspensions, and electric power steering systems vary in construction and characteristics from vehicle model to vehicle model, and even for the same vehicle model, there may be variations in performance from one system to another, provided by multiple suppliers. 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 this summary, a series of simplified form concepts are introduced that are simplifications of the prior art in this field, which will be described in further detail in the detailed description. 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, near point position deviation control, x1Substituting the vehicle transverse expected track into y1According to y1Using PID control to provide a first portion of control torque or steering angle to electric power steering, x1Is the first designated near point X-axis position, y1Is the first near point Y axis position offset;
s3, controlling the deviation of the position of the far point, and dividing x2Substituting the vehicle transverse expected track into y2According to y2Using PID control to provide a second portion of control torque or steering angle to electric power steering, x2Is the first designated remote point X-axis position, y2Is the first distance point Y axis position deviation;
s4, controlling the deviation of the near-point heading angle, and dividing x into3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Using PID control to provide a third portion of control torque or steering angle to electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation;
s5, single point curvature feedforward control, convert x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is the first designated point;
alternatively, can be based on y5"look-up table for providing fourth partial control torque or steering angle to electric power steering, said table being y obtained by calibration5"one-dimensional table relating to control torque or rotation angle;
alternatively, can be based on y5"calculating control torque or steering angle, T ═ Kxy5K is a designated coefficient, and T is an output control torque or a rotation angle;
and S6, the sum of the first part to the fourth part control torque or the steering angle is used 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, then the step S5' is executed, and then the step S6 is executed;
s5', the far-point course angle deviation P is controlled, x4Calculating a by substituting the first derivative of the transverse expected track of the vehicle2According to a2Using PID control to provide a fifth portion of control torque or steering angle to electric power steering, x4Is the second designated remote X-axis position, a2Is 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 lateral direction of the intelligent driving vehicle is further improved, and when 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 ═ c0+c1x+c2x2+c3x3；
The first derivative of the lateral expected trajectory of the vehicle is: y ═ c1+2c2x+3c3x2；
The second derivative of the vehicle lateral expected trajectory is: y ″ -, 2c2+6c3x；
c0As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c1、c2And c3To specify the coefficients. c. C1、c2And c3Typically 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, x1An arbitrary point can be selected, e.g. x1A coordinate origin is selected.
Optionally, the method for controlling the transverse direction of the intelligent driving vehicle is further improved, x2According to c2Or the vehicle speed is obtained by inquiring a calibration table. The calibration table is a one-dimensional table and is a calibration table of c2 or 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 angle1＝atan(y3’)*57.3。
Optionally, the method for controlling the transverse direction of the intelligent driving vehicle is further improved, and the deviation a of the far-point heading angle2＝atan(y4’)*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 x1Substituting the vehicle transverse expected track into y1According to y1Using PID control to provide a first portion of control torque or steering angle to electric power steering, x1Is the first designated near point X-axis position, y1Is the first near point Y axis position offset;
a remote position deviation control unit for controlling the distance x2Substituting the vehicle transverse expected track into y2According to y2Using PID control to provide a second portion of control torque or steering angle to electric power steering, x2Is the first designated remote point X-axis position, y2Is the first distance point Y axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Using PID control to provide a third portion of control torque or steering angle to electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation;
a single point curvature feedforward control unit for converting x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is 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.
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 x4Calculating a by substituting the first derivative of the transverse expected track of the vehicle2According to a2Using PID control to provide a fifth portion of control torque or steering angle to electric power steering, x4Is the second designated remote X-axis position, a2Is the far point course angle deviation;
and a transverse control unit for controlling the transverse control from the torque or the steering angle 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 ═ c0+c1x+c2x2+c3x3；
The first derivative of the lateral expected trajectory of the vehicle is: y ═ c1+2c2x+3c3x2；
The second derivative of the vehicle lateral expected trajectory is: y ″ -, 2c2+6c3x；
c0As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c1、c2And c3To specify the coefficients.
Optionally, the intelligent driving vehicle transverse control module x is further improved1A coordinate origin is selected.
Optionally, the intelligent driving vehicle transverse control module x is further improved2According to c2Or 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 a1＝atan(y3’)*57.3。
Optionally, the intelligent driving vehicle transverse control module is further improved, and the far point heading angle deviation a2＝atan(y4’)*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 will be described in further detail with reference to the following detailed description and accompanying drawings:
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 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, near point position deviation control, x1Substituting the vehicle transverse expected track into y1According to y1Providing a first portion of control torque or steering angle to the electric power steering, x1Is the first designated near point X-axis position, y1Is the first near point Y axis position offset;
s3, controlling the deviation of the position of the far point, and dividing x2Substitution intoThe transverse expected track of the vehicle is calculated to obtain y2According to y2Providing a second portion of control torque or steering angle to the electric power steering, x2Is the first designated remote point X-axis position, y2Is the first distance point Y axis position deviation;
s4, controlling the deviation of the near-point heading angle, and dividing x into3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Providing a third portion of control torque or steering angle to the electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation;
s5, single point curvature feedforward control, convert x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is the first designated point;
and S6, the sum of the first part to the fourth part control torque or the steering angle is used 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, near point position deviation control, x1Substituting the vehicle transverse expected track into y1According to y1Providing a first portion of control torque or steering angle to the electric power steering, x1Is the first designated near point X-axis position, y1Is the first near point Y axis position offset;
s3, controlling the deviation of the position of the far point, and dividing x2Substituting the vehicle transverse expected track into y2According to y2Providing a second portion of control torque or steering angle to the electric power steering, x2Is the first designated remote point X-axis position, y2Is the first distance point Y axis position deviation;
s4, controlling the deviation of the near-point heading angle, and dividing x into3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Providing a third portion of control torque or steering angle to the electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation;
s5, single point curvature feedforward control, convert x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is the first designated point;
s5', the far-point course angle deviation P is controlled, x4Calculating a by substituting the first derivative of the transverse expected track of the vehicle2According to a2Providing a fifth part of control torque or steering angle to the electric power steering, x4Is the second designated remote X-axis position, a2Is 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 the vehicle as the origin of the coordinate system, taking the driving direction of the vehicle as an X axis and taking the vertical driving direction of the vehicle as a Y axis to form a transverse expected track of the vehicle;
the expression of the vehicle transverse expected track is as follows: y ═ c0+c1x+c2x2+c3x3；
c0As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c1、c2And c3To specify the coefficients.
S2, near point position deviation control, x1Substituting the vehicle transverse expected track into y1According to y1Using PID control to provide a first portion of control torque or steering angle to electric power steering, x1Is the first designated near point X-axis position, X1Selecting origin of coordinates, y1Is the first near point Y axis position offset;
s3, controlling the deviation of the position of the far point, and dividing x2Substituting the vehicle transverse expected track into y2According to y2Using PID control to provide a second portion of control torque or steering angle to electric power steering, x2Is the first designated remote point X-axis position, X2According to c2Or the vehicle speed is obtained by inquiring a calibration table, y2Is the first distance point Y axis position deviation;
s4, controlling the deviation of the near-point heading angle, and dividing x into3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Using PID control to provide a third portion of control torque or steering angle to electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation, the near point course angle deviation a1＝atan(y3') 57.3; the first derivative of the lateral expected trajectory of the vehicle is: y ═ c1+2c2x+3c3x2；
S5, single point curvature feedforward control, convert x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is the first designated point; the second derivative of the vehicle lateral expected trajectory is: y ″ -, 2c2+6c3x；
S5', the far-point course angle deviation P is controlled, x4Calculating a by substituting the first derivative of the transverse expected track of the vehicle2According to a2Using PID control to provide a fifth portion of control torque or steering angle to electric power steering, x4Is the second designated remote X-axis position, a2Is the course angle deviation of the far point, the course angle deviation a of the far point2＝atan(y4’)*57.3；
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.
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 x1Substituting the vehicle transverse expected track into y1According to y1Providing a first portion of control torque or steering angle to the electric power steering, x1Is the first designated near point X-axis position, y1Is the first near point Y axis position offset;
a remote position deviation control unit for controlling the distance x2Substituting the vehicle transverse expected track into y2According to y2Providing a second portion of control torque or steering angle to the electric power steering, x2Is the first designated remote point X-axis position, y2Is the first distance point Y axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Providing a third portion of control torque or steering angle to the electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation, the near point course angle deviation a1＝atan(y3’)*57.3；
A single point curvature feedforward control unit for converting x5Substituting second order of lateral expected trajectory of vehicleCalculating the derivative to obtain y5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is 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;
a near point position deviation control unit for controlling x1Substituting the vehicle transverse expected track into y1According to y1Providing a first portion of control torque or steering angle to the electric power steering, x1Is the first designated near point X-axis position, y1Is the first near point Y axis position offset;
a remote position deviation control unit for controlling the distance x2Substituting the vehicle transverse expected track into y2According to y2Providing a second portion of control torque or steering angle to the electric power steering, x2Is the first designated remote point X-axis position, y2Is the first distance point Y axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Providing a third portion of control torque or steering angle to the electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation, the near point course angle deviation a1＝atan(y3’)*57.3；
A single point curvature feedforward control unit for converting x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is the first designated point;
a far-point course angle deviation P control unit which controls x4Substituted into the transverse direction of the vehicleCalculating the first derivative of the expected track to obtain a2According to a2Providing a fifth part of control torque or steering angle to the electric power steering, x4Is the second designated remote X-axis position, a2Is 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:
the expected track generating unit is used for forming a transverse expected track of the vehicle by taking the center of a rear axle of the vehicle as an origin of a coordinate system, taking the driving direction of the vehicle as an X axis and taking the vertical driving direction of the vehicle as a Y axis; the expression of the vehicle transverse expected track is as follows: y ═ c0+c1x+c2x2+c3x3；c0As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c1、c2And c3Is a specified coefficient;
a near point position deviation control unit for controlling x1Substituting the vehicle transverse expected track into y1According to y1Using PID control to provide a first portion of control torque or steering angle to electric power steering, x1Is the first designated near point X-axis position, X1Selecting origin of coordinates, y1Is the first near point Y axis position offset;
a remote position deviation control unit for controlling the distance x2Substituting the vehicle transverse expected track into y2According to y2Using PID control to provide a second portion of control torque or steering angle to electric power steering, x2Is the first designated remote point X-axis position, X2According to c2Or the vehicle speed is obtained by inquiring a calibration table, y2Is the first distance point Y axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Using PID control to provide a third portion of control torque or steering angle to electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation, the near point course angle deviation a1＝atan(y3') 57.3; the first derivative of the lateral expected trajectory of the vehicle is: y ═ c1+2c2x+3c3x2；
A single point curvature feedforward control unit for converting x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is the first designated point; the second derivative of the vehicle lateral expected trajectory is: y ″ -, 2c2+6c3x；
A far-point course angle deviation control unit for controlling the distance between the two points4Calculating a by substituting the first derivative of the transverse expected track of the vehicle2According to a2Using PID control to provide a fifth portion of control torque or steering angle to electric power steering, x4Is the second specified X-axis position of the far point, the course angle deviation a of the far point2＝atan(y4’)*57.3，a2Is 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 (16)
1. A method for controlling the transverse direction of an intelligent driving vehicle is characterized by comprising the following steps:
s1, establishing a designated coordinate system to form a transverse expected track of the vehicle;
s2, near point position deviation control, x1Substituting the vehicle transverse expected track into y1According to y1Providing a first portion of control torque or steering angle to the electric power steering, x1Is the first designated near point X-axis position, y1Is the first near point Y axis position offset;
s3, controlling the deviation of the position of the far point, and dividing x2Substituting the vehicle transverse expected track into y2According to y2Providing a second portion of control torque or steering angle to the electric power steering, x2Is the first designated remote point X-axis position, y2Is the first distance point Y axis position deviation;
s4, controlling the deviation of the near-point heading angle, and dividing x into3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Providing a third portion of control torque or steering angle to the electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation;
s5, single point curvature feedforward control, convert x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is the first designated point;
and S6, the sum of the first part to the fourth part control torque or the steering angle is used as the control torque or the steering angle of the final conveying electric power steering.
2. The intelligent-drive vehicle lateral control method of claim 1, wherein: after the step S5, the step S5' is executed, and then the step S6 is executed;
s5', far-point course angle deviation P controlX is to be4Calculating a by substituting the first derivative of the transverse expected track of the vehicle2According to a2Providing a fifth part of control torque or steering angle to the electric power steering, x4Is the second designated remote X-axis position, a2Is 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.
3. The intelligent-drive vehicle lateral control method of claim 1, wherein: when 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 vehicle traveling direction as the X-axis, and the vertical vehicle traveling direction as the Y-axis.
4. The intelligent-drive vehicle lateral control method of claim 1, wherein:
the expression of the vehicle transverse expected track is as follows: y ═ c0+c1x+c2x2+c3x3；
The first derivative of the lateral expected trajectory of the vehicle is: y ═ c1+2c2x+3c3x2；
The second derivative of the vehicle lateral expected trajectory is: y ″ -, 2c2+6c3x；
c0As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c1、c2And c3To specify the coefficients.
5. The intelligent-drive vehicle lateral control method of claim 1, wherein: x is the number of2According to c2Or the vehicle speed is obtained by inquiring a calibration table.
6. The intelligent-drive vehicle lateral control method of claim 1, wherein:
near point course angular deviation a1＝atan(y3’)*57.3。
7. The intelligent-drive vehicle lateral control method of claim 2, wherein:
far point course angle deviation a2＝atan(y4’)*57.3。
8. The intelligent-drive vehicle lateral control method of claim 2, wherein: the first to fourth portion control torques or rotational angles can be obtained by PID control.
9. 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 x1Substituting the vehicle transverse expected track into y1According to y1Providing a first portion of control torque or steering angle to the electric power steering, x1Is the first designated near point X-axis position, y1Is the first near point Y axis position offset;
a remote position deviation control unit for controlling the distance x2Substituting the vehicle transverse expected track into y2According to y2Providing a second portion of control torque or steering angle to the electric power steering, x2Is the first designated remote point X-axis position, y2Is the first distance point Y axis position deviation;
a near-point course angle deviation control unit for controlling the deviation of the course angle x3Calculating a by substituting the first derivative of the transverse expected track of the vehicle1According to a1Providing a third portion of control torque or steering angle to the electric power steering, x3Is the second designated approximate point X-axis position, a1Is the near point course angle deviation;
a single point curvature feedforward control unit for converting x5Calculating y by substituting second derivative of transverse expected track of vehicle5", according to y5"dynamically providing a fourth portion of control torque or steering angle to electric power steering, x5Is 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.
10. The smart driving vehicle lateral control module of claim 9, further comprising:
a far-point course angle deviation P control unit which controls x4Calculating a by substituting the first derivative of the transverse expected track of the vehicle2According to a2Providing a fifth part of control torque or steering angle to the electric power steering, x4Is the second designated remote X-axis position, a2Is 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.
11. The smart driving vehicle lateral control module of claim 9, 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.
12. The smart driving vehicle lateral control module of claim 9, wherein: the expression of the vehicle transverse expected track is as follows: y ═ c0+c1x+c2x2+c3x3；
The first derivative of the lateral expected trajectory of the vehicle is: y ═ c1+2c2x+3c3x2；
The second derivative of the vehicle lateral expected trajectory is: y ″ -, 2c2+6c3x；
c0As a deviation of the position of the vehicle from the desired trajectory at the origin of coordinates, c1、c2And c3To specify the coefficients.
13. The smart driving vehicle lateral control module of claim 9, wherein: x is the number of2According to c2Or the vehicle speed is obtained by inquiring a calibration table.
14. The smart driving vehicle lateral control module of claim 9, wherein: near point course angular deviation a1＝atan(y3’)*57.3。
15. The smart driving vehicle lateral control module of claim 10, wherein: far point course angle deviation a2＝atan(y4’)*57.3。
16. The smart driving vehicle lateral control module of claim 10, wherein: the first to fourth portion control torques or rotational angles can be obtained by PID control.
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