The invention provides a vehicle path control method, which comprises the steps of obtaining vehicle state information of a target vehicle at a current moment in a driving process of the target vehicle; based on the vehicle state information, determining a turning angle control signal of a wheel turning angle of the target vehicle by solving a quadratic programming problem containing constraint conditions; and according to the turning angle control signal, controlling the wheel turning angle of the target vehicle at the next moment, so that the target vehicle drives on the expected driving path. By solving the quadratic programming problem containing the constraint conditions, the turning angle control signal of the wheel turning angle of the target vehicle can be obtained, the wheel turning angle of the target vehicle is controlled by using the turning angle control signal, and the vehicle can be accurately and stably controlled to steer, so that the target vehicle drives on the expected driving path, and therefore, the operation stability and the driving safety of the vehicle are enhanced.
本申请提供了一种车辆路径控制方法,包括:在目标车辆的行驶过程中,获取目标车辆在当前时刻的车辆状态信息;基于车辆状态信息,通过求解含有约束条件的二次规划问题,确定目标车辆的车轮转角的转角控制信号;根据转角控制信号,在下一时刻对目标车辆的车轮转角进行控制,以使目标车辆在期望行驶路径上行驶。本申请通过求解含有约束条件的二次规划问题,可以得到目标车辆的车轮转角的转角控制信号,利用该转角控制信号对目标车辆的车轮转角进行控制,可以准确平稳地操控车辆进行转向,从而使目标车辆在期望行驶路径上行驶,进而增强了车辆的操纵稳定性和行驶安全性。
Vehicle path control method and device, equipment and computer readable storage medium
车辆路径控制方法、装置、设备及计算机可读存储介质
2021-01-08
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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