The invention relates to a vehicle transverse control method and device, a medium, equipment and a vehicle. The method comprises the following steps: acquiring a target course angle and a current course angle of the vehicle; making a PID controller output a front wheel rotation angle of the vehicle according to the target course angle and the current course angle, wherein control parameters in thePID controller are determined according to a genetic algorithm; and making the front wheel rotation angle of the vehicle be the front wheel rotation angle output by the PID controller. Through the above technical scheme, a genetic algorithm is utilized so that the PID controller for transverse control of the vehicle has a self-optimizing function, and a workload of setting control parameters of the PID controller is reduced; and compared with a rule-based self-optimizing controller using fuzzy PID and the like, by using the device of the invention, logic complexity in design is reduced, and transverse control of the vehicle is more efficient.

    本公开涉及一种车辆横向控制方法和装置、介质、设备、车辆。所述方法包括:获取所述车辆的目标航向角和当前航向角;控制PID控制器根据所述目标航向角、所述当前航向角输出所述车辆的前轮转角,其中,所述PID控制器中的控制参数根据遗传算法确定;控制所述车辆的前轮转角为所述PID控制器输出的前轮转角。通过上述技术方案,利用遗传算法,使车辆横向控制的PID控制器具有了自寻优的功能,减少了PID控制器控制参数整定的工作量,与使用模糊PID之类的基于规则的自寻优控制器相比,降低了设计上的逻辑复杂度,使车辆横向控制更高效。


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    Title :

    Vehicle transverse control method and device, medium, equipment and vehicle


    Additional title:

    车辆横向控制方法和装置、介质、设备、车辆


    Contributors:
    CAO WEILIN (author) / JIN DAPENG (author) / LIU QINGLONG (author)

    Publication date :

    2020-10-23


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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