The invention provides a transverse control method and device based on a vehicle dynamic prediction model, and the method comprises the steps: inputting a first steering wheel rotation angle obtained in advance in a target time window into the vehicle dynamic prediction model, the vehicle dynamic prediction model carries out convolution on the basis of the input first steering wheel rotation angle in the target time window and the unit impulse response of the vehicle dynamic prediction model to obtain a predicted yaw velocity; and obtaining a predicted steering wheel rotation angle based on the predicted yaw velocity and a pre-established cost function. According to the method, the accuracy of predicting the steering wheel angle is improved, and the adjustment of the actuator is reduced while the precision is ensured, so that the durability of the actuator is improved, and the total cost of ownership (TCO) is reduced; in addition, through a large amount of operation data, the optimal constraint condition is iterated on the algorithm, so that the automatic driving behavior is more accurate.
本发明提供一种基于车辆动态预测模型的横向控制方法及装置,方法包括:将预先获取的目标时间窗内的第一方向盘转角输入至车辆动态预测模型中,车辆动态预测模型基于输入的目标时间窗内的第一方向盘转角与车辆动态预测模型的单位脉冲响应进行卷积,得到预测横摆角速度;基于预测横摆角速度和预先建立的成本函数,得到预测方向盘转角。本发明提高了预测方向盘转角的准确性,在确保精度的同时,减少对执行器的调整,从而提高执行器的耐久性,降低总拥有成本(TCO);另外,通过大量的运营数据,在算法上迭代最优约束条件,从而使得自动驾驶行为更为精准。
Lateral control method and device based on vehicle dynamic prediction model
基于车辆动态预测模型的横向控制方法及装置
2022-11-11
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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