The invention discloses a vehicle transverse control parameter adjusting method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a two-dimensional gain table of a target vehicle, wherein the two-dimensional gain table is used for representing changes of gains at different speeds and different centripetal accelerations; acquiring the speed and centripetal acceleration of the target vehicle, and determining a target gain based on the speed, the centripetal acceleration and the two-dimensional gain table; and based on the target gain, constraint parameters of a transverse controller of the target vehicle are adjusted to obtain target constraint parameters, transverse control parameters of the target vehicle are determined based on the target constraint parameters, and the constraint parameters are used for describing the control precision of the transverse controller for the target vehicle in different states. According to the technical scheme, the target gain of the target vehicle is determined by querying the two-dimensional gain table, and then the target constraint parameter is adjusted according to the target gain, so that the transverse control parameter of the target vehicle is accurately determined based on the target constraint parameter, and the problem of poor vehicle stability in a variable curvature working condition at a high speed is solved.
本发明公开了一种车辆横向控制参数调节方法、装置、电子设备和存储介质。该方法包括:确定目标车辆的二维增益表,二维增益表用于表示在不同速度和不同向心加速度下增益的变化;获取目标车辆的速度和向心加速度,基于速度、向心加速度和二维增益表确定目标增益;基于目标增益调节目标车辆横向控制器的约束参数获得目标约束参数,基于目标约束参数确定目标车辆的横向控制参数,约束参数用于描述横向控制器对于目标车辆在不同状态下的控制精度。本申请技术方案通过查询二维增益表确定目标车辆的目标增益,进而依据目标增益调节目标约束参数,从而基于目标约束参数准确确定目标车辆的横向控制参数,解决高速下的变曲率工况中车辆稳定性差的问题。
Vehicle transverse control parameter adjusting method and device, electronic equipment and storage medium
车辆横向控制参数调节方法、装置、电子设备和存储介质
2024-05-24
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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