The invention provides a front wheel turning angle determination method and device, computer equipment and a storage medium. The method comprises the steps that according to state information of a vehicle at the current moment, the front wheel turning angle of the vehicle at the current moment is calculated, and the front wheel turning angle of the vehicle at the current moment is stored in a control quantity sequence; inputting the state information of the vehicle at the current moment and the front wheel turning angle of the vehicle at the current moment into a pre-trained vehicle prediction model to obtain the state information of the vehicle at the next prediction moment; judging whether the next prediction moment exceeds the prediction time domain range or not; if the next prediction moment exceeds the prediction time domain range, determining an initial front wheel rotation angle according to the front wheel rotation angle in the control quantity sequence; and performing first-order low-pass filtering and amplitude limiting processing on the initial front wheel rotation angle to obtain a target front wheel rotation angle. According to the method, the control problem of the vehicle on complex trajectory tracking is solved by predicting and adjusting the front wheel turning angle, so that the vehicle can accurately track the reference trajectory.
本申请提供了一种前轮转角的确定方法、装置、计算机设备和存储介质。其中,该方法包括:根据当前时刻车辆的状态信息,计算当前时刻车辆的前轮转角,并将当前时刻车辆的前轮转角存入控制量序列中;将当前时刻车辆的状态信息和当前时刻车辆的前轮转角输入至预先训练好的车辆预测模型中,得到下一预测时刻车辆的状态信息;判断下一预测时刻是否超出预测时域范围;若下一预测时刻超出预测时域范围,则根据控制量序列中的前轮转角,确定初始前轮转角;对初始前轮转角进行一阶低通滤波和限幅处理,得到目标前轮转角。本方法通过预测和调整前轮转角来解决车辆在复杂轨迹跟踪上的控制问题,从而确保车辆能够准确地跟踪参考轨迹。
Front wheel turning angle determination method and device, computer equipment and storage medium
前轮转角的确定方法、装置、计算机设备和存储介质
2024-03-01
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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