The embodiment of the invention discloses a vehicle steering control method and device, a terminal and a storage medium. The method comprises the steps: determining a first state equation of a vehiclebased on steering data of the vehicle and the mass of the whole vehicle; determining the current optimal control gain corresponding to the current vehicle speed based on the relationship between thevehicle speed of the vehicle and the optimal control gain; determining a current optimal actual control quantity of the vehicle based on the first state equation and the current optimal control gain,and controlling the steering of the vehicle according to the current optimal actual control quantity. The method can control the vehicle when the vehicle steers, improves the path tracking precision,and enables a control system to maintain stability when the vehicle steers during high-speed lane changing or emergency obstacle avoidance.
本发明实施例公开了一种车辆转向的控制方法、装置、终端及存储介质。该方法包括:基于车辆的转向数据及整车质量,确定所述车辆的第一状态方程;基于所述车辆的车速与最优控制增益的关系,确定当前车速对应的当前最优控制增益;基于所述第一状态方程及所述当前最优控制增益,确定所述车辆的当前最优实际控制量,根据所述当前最优实际控制量对所述车辆转向进行控制。能够在车辆转向时对车辆进行控制,提高了路径跟踪精度,使车辆在高速换道或紧急避障发生转向时控制系统能保持稳定性。
Vehicle steering control method and device, terminal and storage medium
一种车辆转向的控制方法、装置、终端及存储介质
2020-11-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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