The invention relates to a vehicle transverse control method and device, a medium and equipment. The vehicle transverse control method comprises the steps that road environment information and vehicle driving state information of a vehicle are obtained; planning a target trajectory of the vehicle based on the road environment information and the driving state information of the vehicle; based on the target trajectory, determining an expected yaw velocity when the vehicle travels along the target trajectory; and based on the expected yaw velocity, the target trajectory and the current position and current yaw velocity of the vehicle, determining a target control quantity of a front wheel turning angle of the vehicle by adopting model predictive control, so that the vehicle performs transverse control on the vehicle based on the target control quantity. According to the technical scheme, vehicle transverse control is achieved based on model predictive control, and the problem that an existing control algorithm is high in parameter calibration dependence is solved.

    本公开涉及一种车辆横向控制方法、装置、介质及设备。其中,车辆横向控制方法包括:获取道路环境信息和车辆的自车行驶状态信息;基于所述道路环境信息和所述自车行驶状态信息,规划所述车辆的目标轨迹;基于所述目标轨迹,确定所述车辆沿所述目标轨迹行驶时的期望横摆角速度;基于所述期望横摆角速度、所述目标轨迹以及所述车辆当前位置和当前横摆角速度,采用模型预测控制确定所述车辆前轮转角的目标控制量,以使所述车辆基于所述目标控制量进行所述车辆的横向控制。本公开技术方案基于模型预测控制实现对车辆横向控制,解决了现有控制算法对参数的标定依赖性高的问题。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Vehicle transverse control method and device, medium and equipment


    Weitere Titelangaben:

    车辆横向控制方法、装置、介质及设备


    Beteiligte:
    SHEN CHEN (Autor:in)

    Erscheinungsdatum :

    2023-06-06


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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



    Vehicle transverse control method, device, equipment and medium

    YU ZHONGXI | Europäisches Patentamt | 2023

    Freier Zugriff

    Vehicle transverse control method, device, equipment and medium

    ZHANG DI / LU YUKUN | Europäisches Patentamt | 2023

    Freier Zugriff

    Vehicle transverse control method and device, medium, equipment and vehicle

    CAO WEILIN / JIN DAPENG / LIU QINGLONG | Europäisches Patentamt | 2020

    Freier Zugriff

    Vehicle transverse control method and device, medium, equipment and vehicle

    CAO WEILIN / JIN DAPENG / LIU QINGLONG | Europäisches Patentamt | 2020

    Freier Zugriff

    Vehicle transverse control method, system, equipment and medium

    WEI SONGBO / LE JINRUI / WANG SHULIANG et al. | Europäisches Patentamt | 2024

    Freier Zugriff