The invention provides an operation control method and device of target equipment, electronic equipment and a storage medium, and the method comprises the steps: determining a deviation angle and a deviation distance of the target equipment relative to a target driving line based on an operation path of the target equipment; obtaining an angle change value according to a difference value between every two adjacent deviation angles, and obtaining a distance change value according to a difference value between every two phase deviation distances; outputting PID (Proportion Integration Differentiation) parameter values by adopting a PID control scheme through the plurality of angle change values, the plurality of distance change values, the target deviation angle and the target deviation distance; and respectively adjusting the rates of driving parts on two sides of the target equipment through the PID parameter values so as to adjust the running path of the target equipment until the deviation angle of the target equipment relative to the target driving line is matched with the target deviation angle and the deviation distance is matched with the target deviation distance. According to the invention, the target equipment strictly operates according to the target driving line.
本申请提供了一种目标设备的运行控制方法、装置、电子设备和存储介质,所述方法包括:基于目标设备的运行路径,确定所述目标设备相对于目标行驶线的偏移角度和偏移距离;根据每两个相邻偏移角度之间的差值得到角度变化值,并根据每两个相偏移距离之间的差值得到距离变化值;通过多个角度变化值、多个距离变化值、目标偏移角度和目标偏移距离,采用PID控制方案输出PID参数值;通过所述PID参数值分别调整所述目标设备两侧驱动部件的速率,以调整所述目标设备的运行路径,直至所述目标设备相对于所述目标行驶线之间的偏移角度匹配所述目标偏移角度、且偏移距离匹配所述目标偏移距离。本申请使目标设备严格按照目标行驶线运行。
Operation control method and device of target equipment, electronic equipment and storage medium
目标设备的运行控制方法、装置、电子设备和存储介质
2023-04-18
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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