The embodiment of the invention discloses a vehicle control method and device, a vehicle and a storage medium. The method comprises the following steps: acquiring current road condition information and a current running state quantity of a vehicle, and determining a corresponding running parameter given value according to the current road condition information; the current operation state quantity is substituted into the target function, and the vehicle operation control quantity is determined; vehicle longitudinal and transverse control parameters are determined according to the operation parameter given value and the vehicle operation control quantity, and vehicle steering and driving are controlled according to the vehicle longitudinal and transverse control parameters; wherein the target function is a function constructed according to a predictive control model, and the predictive control model is obtained by discretizing a two-degree-of-freedom vehicle model corresponding to the vehicle. According to the technical scheme, the vehicle longitudinal and transverse control parameters are generated through the multiple vehicle operation control quantities determined according to the target function, the problem that a single control quantity cannot enable a longitudinal and transverse coupling system to reach the ideal state at the same time is solved, and the stability of vehicle longitudinal and transverse control is improved.
本发明实施例公开了一种车辆控制方法、装置、车辆及存储介质。该方法包括:获取当前路况信息及车辆的当前运行状态量,根据当前路况信息确定对应的运行参数给定值;将当前运行状态量代入目标函数,确定车辆运行控制量;根据运行参数给定值与车辆运行控制量确定车辆纵横向控制参数,并根据车辆纵横向控制参数控制车辆转向和驱动;其中,目标函数为根据预测控制模型构建的函数,预测控制模型由车辆对应的二自由度车辆模型离散化得到。本发明实施例的技术方案,采用根据目标函数确定的多个车辆运行控制量生成车辆纵横向控制参数,解决了单一控制量无法使纵横向耦合系统同时达到理想状态的问题,提高了车辆纵横向控制的稳定性。
Vehicle control method and device, vehicle and storage medium
一种车辆控制方法、装置、车辆及存储介质
2022-11-22
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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