The invention provides an intelligent vehicle, a path tracking control method and device thereof and a storage medium. The control method comprises the following steps: building a three-degree-of-freedom vehicle dynamics model; building a magic formula tire model; an MPC is selected as a benchmark, and a vehicle transverse control algorithm is designed; designing a vehicle longitudinal control algorithm by taking double PID control as a benchmark; coupling the vehicle transverse control algorithm and the vehicle longitudinal control algorithm, determining a transverse and longitudinal control algorithm, and controlling the vehicle according to the transverse and longitudinal control algorithm. The problem solved by the invention is that the performance and transverse and longitudinal decoupling of a model prediction controller in related technologies cannot accurately describe the vehicle driving state.
本发明提供了一种智能车辆及其路径跟踪的控制方法、装置和存储介质。控制方法包括:搭建基于三自由度车辆动力学模型;搭建魔术公式轮胎模型;选取MPC作为基准,设计车辆横向控制算法;以双PID控制作为基准,设计车辆纵向控制算法;耦合车辆横向控制算法和车辆纵向控制算法,确定横纵向控制算法,并根据横纵向控制算法控制车辆。本发明解决的问题是:相关技术中的模型预测控制器的性能和横纵向解耦无法准确描述车辆行驶状态。
Intelligent vehicle, path tracking control method and device thereof and storage medium
一种智能车辆及其路径跟踪的控制方法、装置和存储介质
2023-02-03
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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