FIELD: self-driving vehicles.
SUBSTANCE: invention relates to self-driving vehicles. In the method for controlling the lateral movement of a self-controlled vehicle, the control parameters of a linear-quadratic controller are set; obtaining the general TC parameters and the gain of the control parameter in accordance with the control parameters and the general parameters. The gain of the control parameter is obtained in real time in accordance with the gain of the control parameter. The value of the feedback on the state error, the curvature of the trajectory and the angle of inclination of the vehicle are obtained. The control and compensating values are obtained in accordance with the real-time control parameter gain, the status error feedback value, the trajectory curvature, and the vehicle inclination angle. The expected steering angle is obtained according to the control and compensation value, and the expected steering angle is output to the steering-by-wire system.
EFFECT: volume of calculations and computing resources is reduced.
10 cl, 8 dwg
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