The invention relates to the technical field of path tracking, and in particular relates to a vehicle transverse control method and device, computer equipment and a storage medium. The vehicle transverse control method comprises the steps of obtaining at least two independent rotation angle control quantities related to vehicle transverse control; coupling each independent rotation angle control quantity to obtain a target rotation angle control quantity; and performing transverse control on the vehicle according to the target rotation angle control quantity. The target rotation angle control quantity is obtained by coupling all the independent rotation angle control quantities, all the independent rotation angle control quantities are comprehensively considered, and the problem that in the process of purely considering one independent rotation angle control quantity, the driving comfort is affected due to frequent and large-angle rotation of the vehicle can be avoided; or deviation from a preview point caused by smooth rotation angle control of the vehicle is avoided. According to the method, each independent rotation angle control quantity can be coordinated and matched, the control precision of vehicle transverse control is improved, and the optimal control effect can be achieved.

    本申请涉及路径跟踪技术领域,特别是涉及一种车辆横向控制方法、装置、计算机设备和存储介质。一种车辆横向控制方法包括:获取至少两个与车辆横向控制相关的独立转角控制量;对各个所述独立转角控制量进行耦合得到目标转角控制量;根据所述目标转角控制量对车辆进行横向控制。通过对各个所述独立转角控制量进行耦合得到目标转角控制量,综合考虑了各个独立转角控制量,能够避免在单纯考虑一个独立转角控制量过程中,由于车辆频繁和大角度转角而造成的影响驾驶舒适性问题;或者由于车辆转角控制平滑,而导致偏离预瞄点的问题。本方法可达到各个独立转角控制量协调配合,提高车辆横向控制的控制精度,能够取得最佳控制效果。


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    Title :

    Vehicle transverse control method and device, computer equipment and storage medium


    Additional title:

    车辆横向控制方法、装置、计算机设备和存储介质


    Contributors:
    LI SHIHUAN (author) / QI YAXI (author)

    Publication date :

    2021-08-20


    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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