A2H124-24FX–2 基于规划模块输出的目标轨迹和定位模块输出的车辆状态

Description

A2H124-24FX–2 基于规划模块输出的目标轨迹和定位模块输出的车辆状态

控制模块是整个自动驾驶软件系统中的执行环节，基于规划模块输出的目标轨迹和定位模块输出的车辆状态，生成方向盘、油门、刹车控制命令，通过 canbus 模块给车辆底层执行器。它由纵向控制模块和横向控制模块两个子模块组成。纵向控制模块通过油门和刹车控制车的纵向加减速，横向控制模块通过控制方向盘的转动来控制前轮的转向

控制模块在自动驾驶系统中还具有故障诊断与容错控制的功能。这意味着控制模块能够实时检测系统各部分的运行状态，及时发现故障，并能采取相应的容错控制措施，确保自动驾驶系统的安全和稳定。从而控制汽车的行驶方向。在横向控制中，根据规划模块的轨迹生成方向盘指令，横向控制器是基于LQR的最优控制器。

A2H124-24FX–2 基于规划模块输出的目标轨迹和定位模块输出的车辆状态

The control module is an execution link in the entire automatic driving software system. Based on the target trajectory output by the planning module and the vehicle status output by the positioning module, the control commands for steering wheel, throttle and brake are generated and sent to the bottom actuator of the vehicle through the canbus module. It consists of two sub-modules: vertical control module and horizontal control module. The longitudinal control module controls the longitudinal acceleration and deceleration of the car through the throttle and brake, and the lateral control module controls the steering wheel by controlling the rotation of the steering wheel

The control module also has the functions of fault diagnosis and fault tolerance control in the automatic driving system. This means that the control module can detect the operating status of each part of the system in real time, discover faults in time, and take corresponding fault-tolerant control measures to ensure the safety and stability of the automatic driving system. To control the direction of the car. In horizontal control, steering wheel instructions are generated according to the trajectory of the planning module, and the horizontal controller is an optimal controller based on LQR.