The invention provides a vehicle transverse control method, device and equipment, a medium and a program product, and relates to the technical field of artificial intelligence such as unmanned driving and automatic parking. One embodiment of the method comprises the following steps: determining a feedforward target point on a target track according to a first projection point of a current position point of a target vehicle on the target track and a feedforward preview distance; according to the current operation state data and the current steering wheel angle of the target vehicle, determining a point reached when the target vehicle passes through the feedback preview distance as a feedback matching point; determining a feedback target point corresponding to the feedback matching point on the target track according to the feedback matching point; based on a preset steering model, according to the curvature of the feedforward target point and the transverse error and the course error between the feedback matching point and the feedback target point, obtaining a target steering wheel turning angle; and controlling a steering wheel of the target vehicle according to the target steering wheel angle to perform transverse control on the target vehicle.

    本公开提供了一种车辆横向控制方法、装置、设备、介质及程序产品,涉及无人驾驶、自动泊车等人工智能技术领域。该方法的一实施方式包括:根据目标车辆的当前位置点在目标轨迹上的第一投影点,以及前馈预瞄距离,确定在目标轨迹上的前馈目标点;以目标车辆的当前运行状态数据和当前方向盘转角,将目标车辆驶过反馈预瞄距离所到达的点,确定为反馈匹配点;根据反馈匹配点,在目标轨迹上确定与反馈匹配点对应的反馈目标点;基于预设的转向模型,根据前馈目标点的曲率,以及反馈匹配点和反馈目标点之间的横向误差和航向误差,得到目标方向盘转角;根据目标方向盘转角控制目标车辆的方向盘,以对目标车辆进行横向控制。


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    Titel :

    Vehicle transverse control method, device, equipment, medium and program product


    Weitere Titelangaben:

    车辆横向控制方法、装置、设备、介质及程序产品


    Beteiligte:
    LI LINWEI (Autor:in) / SHANGGUAN LANTIAN (Autor:in) / FENG HAO (Autor:in)

    Erscheinungsdatum :

    2023-11-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / 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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