The invention discloses a vehicle transverse path tracking method and device, equipment and a storage medium. The method comprises the following steps: determining a transmission parameter of a current vehicle according to a whole vehicle parameter of the current vehicle and a vehicle speed of the current vehicle; determining a first steering wheel turning angle according to the first transverse distance deviation, the preview point parameter, the target course angle deviation of the current vehicle, the vehicle speed of the current vehicle and the transmission parameter of the current vehicle; acquiring a first controller parameter and a second controller parameter; determining a second steering wheel angle according to the first lateral distance deviation, the lateral speed of the current vehicle, the first controller parameter, the second controller parameter, the speed of the current vehicle and the transmission parameter of the current vehicle; the target steering wheel rotation angle is determined according to the first steering wheel rotation angle and the second steering wheel rotation angle, tracking control is conducted on the current vehicle according to the target steering wheel rotation angle, and through the technical scheme, the accuracy and stability of transverse path tracking of the vehicle can be improved.
本发明公开了一种车辆横向路径跟踪方法、装置、设备及存储介质。该方法包括:根据当前车辆的整车参数和当前车辆的车速确定当前车辆的传送参数;根据第一横向距离偏差、预瞄点参数、当前车辆的目标航向角偏差、当前车辆的车速以及当前车辆的传送参数确定第一方向盘转角;获取第一控制器参数和第二控制器参数;根据第一横向距离偏差、当前车辆的横向速度、第一控制器参数、第二控制器参数、当前车辆的车速以及当前车辆的传送参数确定第二方向盘转角;根据第一方向盘转角和第二方向盘转角确定目标方向盘转角,并根据目标方向盘转角对当前车辆进行跟踪控制,通过本发明的技术方案,能够提高车辆的横向路径跟踪的精确性和稳定性。
Vehicle transverse path tracking method, device and equipment and storage medium
一种车辆横向路径跟踪方法、装置、设备及存储介质
2023-12-08
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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