METHOD AND APPARATUS FOR CONTROLLING LATERAL MOTION OF SELF-DRIVING VEHICLE, AND SELF-DRIVING VEHICLE

摘要

A method and an apparatus for controlling lateral motion of a self-driving vehicle, and a self-driving vehicle. The method for controlling lateral motion of a self-driving vehicle comprises: setting control parameters of a linear quadratic controller (S102); acquiring vehicle overall parameters (S104); according to the control parameters and the vehicle overall parameters, acquiring a control parameter gain (S106); according to the control parameter gain, acquiring a real-time control parameter gain (S108); acquiring a state error feedback amount, a track curvature, and a vehicle inclination angle (S110); according to the real-time control parameter gain, the state error feedback amount, the track curvature, and the vehicle inclination angle, acquiring a control amount and a compensation amount (S112); and according to the control amount and the compensation amount, acquiring an expected steering wheel angle, and outputting the expected steering wheel angle to a steering-by-wire system (S114). Said method can achieve optimal control of lateral motion of a self-driving vehicle with no static error, greatly reduce the amount of calculation, and ensure convergence of an optimal control gain, achieving highly reliable and highly accurate tracking of an expected driving track.