The invention relates to the technical field of vehicle control, in particular to a steering wheel control method and device, a vehicle, a storage medium and a program.The method comprises the steps that the steering wheel turning angle at the last moment and the transverse position of the vehicle at the current moment are obtained; determining a transverse error and a course error between the vehicle and the planned trajectory at the current moment according to the transverse position of the vehicle at the current moment and the planned trajectory of the vehicle; determining the steering wheel turning angle at the current moment according to the steering wheel turning angle at the previous moment, the transverse position of the vehicle at the current moment, and the transverse error and course error between the vehicle at the current moment and the planned track; controlling the steering wheel to rotate according to the steering wheel angle at the current moment. Therefore, the problems that in the prior art, a tracking control method of the unmanned vehicle needs to depend on a precise vehicle model or a linear time-invariant system, and once the model is inaccurate or the vehicle runs in a nonlinear interval, the control performance of the vehicle is reduced, and the vehicle is unstable are solved.
本申请涉及车辆控制技术领域,特别涉及一种方向盘控制方法、装置、车辆、存储介质及程序,其中,方法包括:获取上一时刻的方向盘转角和当前时刻车辆的横向位置;根据当前时刻车辆的横向位置和车辆的规划轨迹确定当前时刻车辆与规划轨迹的横向误差和航向误差;根据上一时刻的方向盘转角、当前时刻车辆的横向位置、当前时刻车辆与规划轨迹的横向误差和航向误差,确定当前时刻的方向盘转角;根据当前时刻的方向盘转角控制方向盘转动。由此,解决了相关技术中无人驾驶车辆的跟踪控制方法需依靠较为精准的车辆模型或是线性时不变系统,一旦模型不准确或车辆运行在非线性区间,则导致车辆的控制性能下降、车辆失稳等问题。
Steering wheel control method and device, vehicle, storage medium and program
方向盘控制方法、装置、车辆、存储介质及程序
12.07.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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