Transverse and longitudinal coupling cooperative control method and device for unmanned motorcade

• Main Authors: ZHOU KEYU, FANG DALONG, KONG DECONG, PENG PENGZHI, LIU YANG
• Format: Patent
• Language: Chinese; English
• Published: 05.04.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses an unmanned motorcade transverse and longitudinal direction coupling cooperative control method and device, and relates to the technical field of intelligent automobile control, and the method comprises the steps: obtaining the surrounding environment information and vehicle state information of a vehicle queue; path planning is carried out according to the surrounding environment information and the vehicle state information, and a reference path corresponding to the vehicle queue is obtained; according to the reference path and the longitudinal speed in the vehicle state information, a prediction model control algorithm is used for calculating the front wheel turning angle of the vehicle; calculating the expected acceleration of the vehicle based on the steering curvature corresponding to the front wheel steering angle of the vehicle; and on the basis of the vehicle front wheel rotation angle and the vehicle expected acceleration, transverse and longitudinal coupling cooperative cont