The invention relates to the technical field of vehicle control, and discloses a vehicle steering control method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining a current planned path and a current driving speed of a vehicle; the current lateral error and the current course error of the vehicle are determined according to the current planning path, the current lateral error is the lateral error of the vehicle at the current moment, and the current course error is the course error of the vehicle at the current moment; the current front wheel turning angle of the vehicle is determined according to the current state parameters and the first corresponding relation, the current state parameters comprise the current driving speed, the current transverse error and the current course error, and the current front wheel turning angle is the front wheel turning angle of the vehicle at the current moment; the first corresponding relation is used for representing the corresponding relation between the vehicle and the multiple front wheel turning angles under the multiple different state parameters; and determining a control instruction according to the current front wheel steering angle. According to the method, the real-time performance of vehicle steering control can be ensured while the front wheel steering angle control quantity is determined.
本发明涉及车辆控制技术领域,公开了一种车辆的转向控制方法、装置、计算机设备及存储介质,该方法包括:获取车辆的当前规划路径和当前行驶速度;根据当前规划路径确定车辆的当前横向误差和当前航向误差,当前横向误差为车辆在当前时刻下的横向误差,当前航向误差为车辆在当前时刻下的航向误差;根据当前状态参数和第一对应关系确定车辆的当前前轮转角,当前状态参数包括当前行驶速度、当前横向误差和当前航向误差,当前前轮转角为车辆在当前时刻下的前轮转角,第一对应关系用于表征车辆在多个不同的状态参数下与多个前轮转角之间的对应关系;根据当前前轮转角确定控制指令。本发明在确定前轮转角控制量的同时,能够保证车辆转向控制的实时性。
Vehicle steering control method and device, computer equipment and storage medium
车辆的转向控制方法、装置、计算机设备及存储介质
2023-10-27
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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