The embodiment of the invention discloses a vehicle turning control method and a device, a vehicle and a storage medium. The method comprises the steps: receiving current position information, captured by a positioning navigation system, of a vehicle, target road point information in a target curve where the vehicle is located, and current vehicle speed information, captured by a set sensor, of the vehicle; determining transverse control input information and longitudinal control input information of the vehicle according to the current position information, the target road point information and the current vehicle speed information; determining a steering wheel angle of the vehicle through model predictive control according to the transverse control input information; determining the driving acceleration of the vehicle through proportional integral differential control according to the longitudinal control input information; and controlling the vehicle to turn according to the steering wheel angle and the driving acceleration. According to the technical scheme provided by the embodiment of the invention, the vehicle can pass through a curve with larger curvature during turning control, and the stability and the comfort are improved.

    本发明实施例公开了一种车辆转弯控制方法、装置、车辆及存储介质。其中,该方法包括:接收通过定位导航系统所捕获的车辆当前位置信息和车辆所处目标弯道中的目标路点信息,以及通过设定传感器捕获的所述车辆的当前车速信息;根据所述当前位置信息、目标路点信息以及当前车速信息,确定所述车辆的横向控制输入信息以及纵向控制输入信息;根据所述横向控制输入信息通过模型预测控制,确定所述车辆的方向盘转角;根据所述纵向控制输入信息通过比例积分微分控制,确定所述车辆的行驶加速度;根据所述方向盘转角以及行驶加速度控制所述车辆转弯。本发明实施例提供的技术方案,使得车辆转弯控制时能够通过曲率较大的弯道,提高了稳定性和舒适性。


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    Title :

    Vehicle turning control method and device, vehicle and storage medium


    Additional title:

    一种车辆转弯控制方法、装置、车辆及存储介质


    Contributors:
    HAN JIAQI (author) / LYU YING (author) / GAO YANXI (author) / DONG XIAOYU (author) / LYU ZHENG (author)

    Publication date :

    2020-10-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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