The invention relates to the technical field of vehicles, in particular to a vehicle path tracking control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the last flat output of a vehicle system of a current vehicle; inputting the last output and the expected state of the current vehicle into a preset differential flatness controller to obtain expected input of a vehicle system; and the expectation is input into a vehicle system of the current vehicle, the target driving torque or the target braking torque of the current vehicle is obtained, the current vehicle is driven according to the target driving torque, or the current vehicle is braked according to the target braking torque. According to the vehicle path tracking control method provided by the embodiment of the invention, the flat output of the vehicle system model is calculated according to the differential flat theory, so that the used five-degree-of-freedom vehicle system model is converted into a differential flat form, and therefore, the path tracking precision is improved, and the stability of the vehicle is improved.
本申请涉及车辆技术领域,特别涉及一种车辆路径跟踪控制方法、装置、车辆及存储介质,其中,方法包括:获取当前车辆的车辆系统的上一次平坦输出;将上一次输出和当前车辆的期望状态输入至预设的微分平坦控制器,得到车辆系统的期望输入;将期望输入至当前车辆的车辆系统,得到当前车辆的目标驱动力矩或者目标制动力矩,并根据目标驱动力矩驱动当前车辆,或者根据目标制动力矩对当前车辆进行制动。根据本申请实施例的车辆路径跟踪控制方法,根据微分平坦理论,计算车辆系统模型的平坦输出,以将使用的五自由度车辆系统模型转换成微分平坦形式,从而提高路径跟踪精度,改善车辆的稳定性。
Vehicle path tracking control method and device, vehicle and storage medium
车辆路径跟踪控制方法、装置、车辆及存储介质
2023-09-08
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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