The embodiment of the invention discloses a vehicle trajectory tracking control method and device, electronic equipment and a storage medium. The method comprises the following steps: respectively acquiring track parameters of a current point and a preview point of a vehicle, and determining a transverse control quantity and a vehicle attitude control quantity required by the vehicle from the current point to the preview point based on the track parameters; determining a vehicle attitude control compensation amount based on the transverse control amount and the vehicle attitude control amount; and controlling a steering wheel angle of the vehicle based on the transverse control quantity, and applying braking force to wheels of the vehicle based on the vehicle attitude control compensation quantity so as to control the vehicle to run according to a vehicle track where the preview point is located. Therefore, according to the embodiment, the braking force can be applied to the wheels of the vehicle, so that the deviation of the posture of the vehicle caused by controlling the steering angle of the steering wheel of the vehicle according to the transverse control quantity is compensated. And meanwhile, the precision of transverse control and vehicle attitude control is considered.
本申请实施例公开了一种车辆轨迹跟踪控制方法、装置、电子设备及存储介质。该方法包括:分别获取车辆当前点与预瞄点的轨迹参数,并基于轨迹参数确定车辆从当前点到预瞄点所需的横向控制量和车辆姿态控制量;然后基于横向控制量和车辆姿态控制量确定车辆姿态控制补偿量;再基于横向控制量控制车辆的方向盘转角,并基于车辆姿态控制补偿量对车辆的车轮施加制动力,以控制车辆按照预瞄点所在的车辆轨迹行驶。基于此,本实施例可以通过对车辆的车轮施加制动力,从而补偿因按照横向控制量控制车辆的方向盘转角而导致的车辆姿态的偏差。同时兼顾了横向控制与车辆姿态控制的精度。
Vehicle trajectory tracking control method and device, electronic equipment and storage medium
车辆轨迹跟踪控制方法、装置、电子设备及存储介质
2022-07-29
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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