The invention discloses a vehicle transverse control method and device, computer equipment and a storage medium, and belongs to the field of intelligent driving. The method comprises the following steps: acquiring perception information of a target vehicle, wherein the perception information comprises an expected steering wheel angle, an actual steering wheel angle and a lane line curvature; calculating an error between the expected steering wheel angular velocity and the actual steering wheel angular velocity; the error between the expected steering wheel angular velocity and the actual steering wheel angular velocity is input into a second PID controller, the expected steering wheel torque is obtained, and the control parameter of the second PID controller is determined at least based on the lane line curvature. According to the invention, through the two PID controllers connected in series, the driving safety requirements on straight roads and curved roads at different vehicle speeds are met, and the robustness of a transverse control algorithm is ensured.

    本申请公开了一种车辆横向控制方法、装置、计算机设备及存储介质,属于智能驾驶领域。该方法包括:获取目标车辆的感知信息,感知信息包括期望方向盘转角、实际方向盘转角、车道线曲率;计算期望方向盘转角速度和实际方向盘转角速度之间的误差;将期望方向盘转角速度和实际方向盘转角速度之间的误差输入第二PID控制器,得到期望方向盘扭矩,第二PID控制器的控制参数至少基于车道线曲率确定。本申请中,通过两个串联的PID控制器,实现了不同车速下平直道路和弯曲道路的行驶安全性需求,保证了横向控制算法的鲁棒性。


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    Titel :

    Vehicle transverse control method and device, computer equipment and storage medium


    Weitere Titelangaben:

    车辆横向控制方法、装置、计算机设备及存储介质


    Beteiligte:
    YANG MORAN (Autor:in) / NAGAKAWA (Autor:in) / WU HAOKUN (Autor:in)

    Erscheinungsdatum :

    2023-11-14


    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



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