The invention provides a vehicle control method and device, equipment and a medium. The method comprises the following steps: acquiring driving information of a vehicle, wherein the driving information comprises a steering wheel actual turning angle, a steering wheel expected turning angle, a steering wheel actual turning angle speed, a driving speed and a lane curvature; inputting the actual steering wheel rotation angle, the expected steering wheel rotation angle and the driving speed into a first PID controller, so as to determine the expected steering wheel rotation angle speed based on the first PID controller; inputting the steering wheel expected turning angle speed, the steering wheel actual turning angle speed, the steering wheel expected turning angle, the driving speed and the lane curvature into a second PID controller so as to determine the steering wheel expected torque based on the second PID controller; and controlling the vehicle according to the steering wheel expected torque. According to the invention, the vehicle is controlled by using the two cascaded PID controllers, so that the driving requirements of the vehicle on a straight road and curved roads with different curvatures are considered, and the accuracy and reliability of vehicle control are improved.
本申请提供了一种车辆控制方法、装置、设备及介质。其中方法包括:获取车辆的行驶信息,行驶信息包括:方向盘实际转角、方向盘期望转角、方向盘实际转角速度、行驶速度以及车道曲率;将方向盘实际转角、方向盘期望转角和行驶速度输入第一PID控制器,以基于第一PID控制器确定方向盘期望转角速度;将方向盘期望转角速度、方向盘实际转角速度、方向盘期望转角、行驶速度以及车道曲率输入至第二PID控制器,以基于第二PID控制器确定方向盘期望扭矩;根据方向盘期望扭矩,对车辆进行控制。本申请通过利用级联的两个PID控制器对车辆进行控制,以兼顾车辆在平直道路以及不同曲率的弯曲道路上的行驶需求,提高了车辆控制的准确性和可靠性。
Vehicle control method, device, equipment and medium
车辆控制方法、装置、设备及介质
2022-11-01
Patent
Electronic Resource
Chinese