【摘要】 为了满足自动驾驶的需求，提出了一套轨迹随动车辆横向控制方案。采用双自由度结构将车辆的输入特性与干扰特性区分开来，同时通过改进传统结构，使驾驶员通过方向盘的输入信号在干扰观测器中不再被视为干扰信号，控制结构因此表现出更好的协同性。通过实车测试表明，该控制结构可实现汽车沿规划轨迹行驶的稳定性并满足其他要求。更多还原

【Abstract】 To meet the requirements of autonomous driving, a vehicle trajectory lateral control system is proposed. A dual degree of freedom structure is used to distinguish the input characteristics of the vehicle from the interference characteristics. At the same time, by improving the traditional structure, the driver’s input signals through the steering wheel are no longer considered as interference signals in the interference observer, and the control structure therefore exhibits better coordination. The actual vehicle test shows that the control structure can achieve the stability of the vehicle moving along the planned trajectory and meet other requirements.更多还原