The invention discloses a vehicle control method, a vehicle, a storage medium and an electronic device. The method comprises the steps that state information, vehicle parameters and track information of a vehicle are obtained, and the state information is parameter information of the vehicle in the driving process; determining a feedback control angle of a steering wheel of the vehicle according to the state information, the vehicle parameters and the trajectory information; determining a feedforward control angle of the steering wheel according to the state information and the vehicle parameters, and determining a yaw control angle of the steering wheel according to the state information and the vehicle parameters; calculating the sum of the feedback control angle, the feed-forward control angle and the yaw control angle to obtain a steering wheel turning angle; and controlling the steering wheel to rotate according to the steering wheel angle. According to the invention, the problem of poor stability of transverse control during automatic driving of the vehicle in the prior art is solved.
本申请公开了一种车辆控制方法、车辆、存储介质及电子装置。该方法包括:获取车辆的状态信息、车辆参数和轨迹信息,其中,状态信息为车辆在行驶过程中的参数信息;依据状态信息、车辆参数和轨迹信息确定车辆的方向盘的反馈控制角度;依据状态信息和车辆参数确定方向盘的前馈控制角度,并依据状态信息和车辆参数确定方向盘的横摆控制角度;计算反馈控制角度、前馈控制角度和横摆控制角度的和,得到方向盘转角;按照方向盘转角控制方向盘转动。通过本申请,解决了相关技术中车辆自动驾驶时横向控制的稳定性较差的问题。
Vehicle control method, vehicle, storage medium and electronic device
车辆控制方法、车辆、存储介质及电子装置
30.09.2022
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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