Automatic driving transverse and longitudinal coupling control method, system, equipment and medium

The invention discloses an automatic driving transverse and longitudinal coupling control method, system and device and a medium. The method comprises the following steps: constructing a vehicle error state space equation; according to the vehicle error state space equation, constructing a sliding m...

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Bibliographische Detailangaben
Hauptverfasser:	WANG MIN, YU MENG, CHEN YONG, XIA YONG, FU MAOLEI, LIANG ZHENBAO, ZHOU XIQIN, TU ZHENG, CUI YINGJIE
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING
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Beschreibung
Zusammenfassung:	The invention discloses an automatic driving transverse and longitudinal coupling control method, system and device and a medium. The method comprises the following steps: constructing a vehicle error state space equation; according to the vehicle error state space equation, constructing a sliding mode surface and sliding mode surface parameters of target transverse and longitudinal variables; constructing an index reaching law according to the sliding mode surface; constructing a sliding mode control law according to the vehicle error state space equation and the index reaching law; obtaining the target transverse and longitudinal variables according to the sliding mode surface parameters and the sliding mode control law; and performing transverse and longitudinal control on the vehicle based on the target transverse and longitudinal variables. The problems that in the prior art, a transverse and longitudinal coupling control algorithm is single, algorithm calculation is complex, needed computing power is hi