自动驾驶汽车横向可拓预瞄切换控制系统研究*

doi:10.19562/j.chinasae.qcgc.2018.09.005

Abstract

Abstract: Aiming at the problem of poor adaptability and low control accuracy of lateral control system in autonomous driving vehicles under mixed road conditions with large curvature range, an extendable preview switching control method for the lateral control of autonomous vehicles is proposed in this paper. The control system, consisting of upper layer extendable controller and lower layer controller, realizes the switching control between the feedback control in classic domain and the feedback-forward control in extendable domain. The simulation results in Simulink show that the control method proposed reduce the control error on the road with large curvature while ensuring the control accuracy on the road with small curvature, having a good adaptability to time-varying conditions

Key words: autonomous vehicles, extendable preview switching, lateral control, feedback control, feedforward-feedback control

Cai Yingfeng, Zang Yong, Sun Xiaoqiang, Chen Long, Wang Hai, Jiang Haobin & He Youguo. A Research on Lateral Extendable Preview Switching
Control System for Autonomous Vehicles[J]., 2018, 40(9): 1032-1039.

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A Research on Lateral Extendable Preview Switching
Control System for Autonomous Vehicles

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A Research on Lateral Extendable Preview SwitchingControl System for Autonomous Vehicles

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A Research on Lateral Extendable Preview Switching
Control System for Autonomous Vehicles