According to the transverse control method of the vehicle, the related equipment, the storage medium and the program product, the delay prediction position of the vehicle at the delay moment can be obtained by calculating the delay time preset by the user and the actual position, the driving direction and the vehicle speed of the vehicle at the current moment, and the transverse control of the vehicle is achieved according to the track position on the control track. The target yaw velocity can be further determined according to the preview curvature of the vehicle, the transverse distance deviation, the course angle deviation, the transverse distance deviation accumulated value and the course angle deviation accumulated value, and the vehicle dynamics model can convert the target yaw velocity into the steering wheel turning angle. The steering gear of the vehicle controls the vehicle to steer according to the steering wheel angle, the influence of the delay time of the system on the running track of the vehicle is calculated on the basis of guaranteeing high control precision, the transverse control error caused by the delay time is reduced, and the accuracy of transverse control of the vehicle is further improved.
本申请实施例提供的一种车辆的横向控制方法、相关设备、存储介质及程序产品,通过计算用户预设的延迟时间和车辆当前时刻的实际位置、行驶方向以及车辆速度,可以获得车辆在延迟时刻的延迟预测位置,根据控制轨迹上的轨迹位置,以及该轨迹位置的预瞄曲率,进一步地,根据车辆的预瞄曲率、横向距离偏差、航向角偏差、横向距离偏差累计值以及航向角偏差累计值,可以确定目标横摆角速度,车辆动力学模型可将目标横摆角速度转换为方向盘转角,车辆的转向器根据该方向盘转角控制车辆进行转向,保证在较高的控制精度的基础上,计算由于系统的延迟时间对车辆行驶轨迹的影响,降低了由于延迟时间导致的横向控制误差,进一步提高了车辆横向控制的准确度。
Lateral control method of vehicle, related equipment, storage medium and program product
车辆的横向控制方法、相关设备、存储介质及程序产品
04.04.2023
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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