The invention discloses an automobile path tracking control method and device, a readable storage medium and electronic equipment. The method comprises the following steps: determining a data packet receiving state of a predefined state variable according to data acquired by a sensor in real time; determining whether the vehicle is subjected to network attack at the current moment according to the data packet receiving state of the state variable at the current moment; if yes, calculating the value of the control variable at the previous moment according to the data of the state variable at the previous moment; and according to the calculated value of the control variable, calculating an estimated value of the state variable at the current moment by using a state estimation equation, and performing vehicle path tracking control according to the estimated value. According to the invention, the network information security of the intelligent connected vehicle can be improved, so that the vehicle still has certain fault tolerance when encountering a network attack, and the path tracking performance of the vehicle is improved.
一种汽车路径跟踪控制方法、装置、可读存储介质及电子设备,该方法包括:根据传感器实时采集数据确定预定义的状态变量的数据包接收状态;根据当前时刻所述状态变量的数据包接收状态确定当前时刻车辆是否受到网络攻击;若是,根据上一时刻状态变量的数据计算所述上一时刻的控制变量的值;根据计算出的控制变量的值,利用状态估计方程计算当前时刻状态变量的预估值,并根据所述预估值进行车辆路径跟踪控制。本发明可以提高智能网联汽车的网络信息安全,使得车辆在遭遇网络攻击时,仍然具有一定的容错性,改善车辆的路径跟踪性能。
Automobile path tracking control method and device, readable storage medium and electronic equipment
汽车路径跟踪控制方法、装置、可读存储介质及电子设备
2022-11-01
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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