The invention provides an automatic driving transverse control method, device and equipment and a storage medium, and the automatic driving method comprises the following steps: obtaining a transverse rotation angle and an expected rotation angle of a vehicle at the current moment, calculating a transverse rotation angle error at the current moment according to the transverse rotation angle and the expected rotation angle at the current moment, designing an R-MFAILC controller, and controlling the R-MFAILC controller to control the R-MFAILC controller. A control expression of the R-MFAILC controller is constructed; and the transverse turning angle error at the next moment in the last iteration is used as the input quantity of the R-MFAILC controller, and the steering wheel turning angle input quantity at the current moment in the current iteration output by the R-MFAILC controller is used for controlling the transverse turning angle of the vehicle. The R-MFAILC controller is enabled to make corresponding adaptive change along with the change of error feedback information, and when the influence of measurable disturbance on the controller is processed, the advantage that a model-free adaptive iterative learning control algorithm does not need an accurate mathematical model of a controlled object and only needs to input and output information can be kept at the same time.
本发明提出了自动驾驶横向控制方法、装置、设备及存储介质,自动驾驶所述方法包括如下步骤:获取车辆当前时刻的横向转角以及期望转角,根据当前时刻的横向转角与期望转角计算当前时刻的横向转角误差,设计R‑MFAILC控制器,并构建R‑MFAILC控制器的控制表达式;通过上一次迭代中下一时刻的横向转角误差作为所述R‑MFAILC控制器的输入量,利用所述R‑MFAILC控制器输出的本次迭代中当前时刻的方向盘转角输入量对车辆的横向转角进行控制。使R‑MFAILC控制器随着误差反馈信息的改变而做出相应的自适应变化,在处理可测量扰动对于控制器影响时,能够同时保留无模型自适应迭代学习控制算法不需要被控对象精确的数学模型,只需要输入输出信息的优势。
Automatic driving transverse control method and device, equipment and storage medium
自动驾驶横向控制方法、装置、设备及存储介质
2023-12-15
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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