The invention relates to an intelligent driving vehicle coupling control method, device and equipment and a storage medium, and relates to the field of automatic driving, and the method comprises the steps: obtaining a state-space equation, vehicle current state information, road curvature and planning track information; according to the state-space equation, the current state information of the vehicle, the planning track information and a preset LQR algorithm, determining a wheel rotation angle feedback control quantity, according to the road curvature and the preset LQR algorithm, determining a wheel rotation angle feed-forward control quantity, and according to a preset PID algorithm, determining the acceleration of the whole vehicle; determining a steering wheel rotation angle according to the wheel rotation angle feedback control quantity and the wheel rotation angle feedforward control quantity; controlling a vehicle steering wheel to rotate according to the steering wheel angle, and controlling the vehicle to run longitudinally according to the whole vehicle acceleration. According to the method, the effects that longitudinal control and transverse control of the vehicle are stable enough, meanwhile, the burden on the controller is small, and few resources of the controller are occupied are achieved.

    本发明涉及一种智能驾驶车辆耦合控制方法、装置、设备及存储介质,涉及自动驾驶领域,所述方法包括:获取状态空间方程、车辆当前状态信息、道路曲率以及规划轨迹信息;根据所述状态空间方程、所述车辆当前状态信息、所述规划轨迹信息以及预设的LQR算法确定车轮转角反馈控制量,根据所述道路曲率以及预设的LQR算法确定车轮转角前馈控制量,并根据预设的PID算法确定整车加速度;根据所述车轮转角反馈控制量以及所述车轮转角前馈控制量确定方向盘转角;根据所述方向盘转角控制车辆方向盘进行转动,并根据所述整车加速度控制车辆纵向行驶。本发明达到既对车辆的纵向控制以及横向控制足够稳定,同时对控制器的负担较小,占用控制器的资源较少的效果。


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    Title :

    Intelligent driving vehicle coupling control method, device and equipment and storage medium


    Additional title:

    一种智能驾驶车辆耦合控制方法、装置、设备及存储介质


    Contributors:

    Publication date :

    2022-04-15


    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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