Transverse control method for autonomous vehicle
The invention provides an automatic driving vehicle transverse control method, which comprises the following steps of: 1, calculating track projection points according to the current position of a vehicle and a planned track, and constructing a track projection point coordinate system; 2, converting...
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Format: | Patent |
Sprache: | chi ; eng |
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Zusammenfassung: | The invention provides an automatic driving vehicle transverse control method, which comprises the following steps of: 1, calculating track projection points according to the current position of a vehicle and a planned track, and constructing a track projection point coordinate system; 2, converting the planned trajectory into a trajectory projection point coordinate system; 3, calculating a transverse control error according to the current position and the track projection point of the vehicle; step 4, calculating an expected yaw velocity of error progressive convergence according to the transverse control error; and 5, calculating and outputting a steering wheel turning angle according to the expected yaw velocity so as to complete the transverse control of the vehicle. According to the method, the difference between various types of vehicle steering systems can be considered, the transverse error rapid convergence under the low calculation power requirement is realized, and the purpose of transverse contro |
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