The invention relates to the technical field of vehicle control, and discloses a transverse control method, device and equipment of a vehicle and a storage medium, and the method comprises the following steps: determining a front axle center point and a rear axle center point of the vehicle; determining a reference point based on the central point of the front axle and the central point of the rear axle, and constructing a vehicle transverse dynamic model by taking the reference point as a benchmark; establishing an error model according to the vehicle transverse dynamics model; calculating a control error matrix according to the error model; and calculating a front wheel steering angle control quantity according to the control error matrix, converting the front wheel steering angle control quantity into a steering wheel angle, and performing transverse control on the vehicle according to the steering wheel angle. By establishing the kinetic model and the error model, calculating the front wheel steering angle control quantity and converting the front wheel steering angle control quantity into the steering wheel angle, and conducting transverse control on the vehicle according to the steering wheel angle, the problems that in the prior art, the vehicle is unstable and prone to deflection under the high-speed working condition are solved, and the timeliness, accuracy and stability of vehicle control are improved. And the external interference of the vehicle in the running process is reduced.
本发明涉及车辆控制技术领域,公开一种车辆的横向控制方法、装置、设备及存储介质,该方法包括:确定车辆的前轴中心点与后轴中心点;基于前轴中心点与后轴中心点确定参考点,并以参考点为基准构建车辆横向动力学模型;根据车辆横向动力学模型建立误差模型;根据误差模型计算控制误差矩阵;根据控制误差矩阵计算前轮转角控制量,并将前轮转角控制量转化为方向盘角度,根据方向盘角度对车辆进行横向控制。通过建立动力学模型与误差模型,计算出前轮转角控制量并转化为方向盘角度,根据方向盘角度对车辆进行横向控制,解决现有技术车辆高速工况下不稳定,容易偏摆的问题,提高车辆控制的及时性、准确性和稳定性,降低车辆在行驶中受到的外部干扰。
Transverse control method, device and equipment of vehicle and storage medium
车辆的横向控制方法、装置、设备及存储介质
2023-04-18
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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