Automatic driving vehicle transverse and longitudinal control method and system

The invention relates to an automatic driving vehicle transverse and longitudinal control method and system, and belongs to the technical field of vehicle automatic driving control. The method comprises the following steps: firstly, establishing feed-forward control, calculating by using the feed-fo...

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Bibliographische Detailangaben
Hauptverfasser:	JIANG SHAN, DONG HAITAO, YAN LIANG, FU YONGZHUO
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES PERFORMING OPERATIONS ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	The invention relates to an automatic driving vehicle transverse and longitudinal control method and system, and belongs to the technical field of vehicle automatic driving control. The method comprises the following steps: firstly, establishing feed-forward control, calculating by using the feed-forward control to obtain a compensated steering wheel rotation angle/acceleration, secondly, establishing MPC feedback control, and updating a dynamic error model and a prediction model of a vehicle in the MPC feedback control by adopting a KF algorithm to obtain a predicted steering wheel rotation angle/acceleration. And finally, adding the predicted steering wheel rotation angle/acceleration and the compensation steering wheel rotation angle/acceleration as a target steering wheel rotation angle/acceleration, and controlling the vehicle according to the target steering wheel rotation angle/acceleration. The method solves the problem of poor transverse and longitudinal control effects caused by inaccurate vehicle a