The invention relates to the technical field of automatic driving, in particular to a transverse control method and device for a vehicle, the vehicle and a storage medium, and the method comprises the steps: obtaining a current course angle and a current position of the current vehicle, and a preview point of the current position in a preset planning path; calculating a transverse error according to the coordinate positions of the preview point and the current position, and calculating an orientation error according to the course angle and the tangent line of the preview point; the transverse error and the orientation error are substituted into a preset Stanley algorithm, and the front wheel turning angle of the current vehicle is obtained through calculation; a steering wheel angle is obtained according to the preset relation between the front wheel angle and the steering wheel angle, and the current vehicle is controlled according to the steering wheel angle. Therefore, through the improved Stanley algorithm, the problem of control input oscillation existing in the Stanley algorithm when the vehicle deviates from the target path is solved, so that the vehicle control is relatively smooth, and the robustness is relatively high.
本申请涉及自动驾驶技术领域,特别涉及一种车辆的横向控制方法、装置、车辆及存储介质,其中,方法包括:获取当前车辆的当前航向角、当前位置和当前位置在预设规划路径中的预瞄点;根据预瞄点与当前位置的坐标位置计算得到横向误差,并根据航向角和预瞄点的切线计算得到朝向误差;将横向误差和朝向误差带入预设的Stanley算法计算得到当前车辆的前轮转角;根据前轮转角和方向盘转角的预设关系得到方向盘转角,并根据方向盘转角对当前车辆进行控制。由此,通过一种改进Stanley算法,解决了Stanley算法在车辆偏移目标路径时存在控制输入震荡的问题,从而使车辆控制相对平滑,鲁棒性较强。
Transverse control method and device of vehicle, vehicle and storage medium
车辆的横向控制方法、装置、车辆及存储介质
2022-06-10
Patent
Electronic Resource
Chinese
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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