The invention relates to the technical field of automatic driving, particularly provides a lane centering control method, electronic equipment, a storage medium and a vehicle, and aims to solve the technical problem that an existing lane centering control system mainly controls the vehicle through a feedforward module and a feedback module, so that the control error is large under a high-dynamic working condition. In order to achieve the purpose, the lane centering control method comprises the steps that vehicle state information and environment sensing information are obtained; determining a dynamic corner command control value based on the vehicle state information; respectively determining a feedforward steering wheel angle instruction control value and a feedback steering wheel angle instruction control value based on the environmental perception information; an actuator of the vehicle is controlled based on the dynamic steering angle command control value, the feed-forward steering wheel steering angle command control value, and the feedback steering wheel steering angle command control value. Therefore, the control error is reduced, the control precision is improved, and the stability and safety of the vehicle are ensured.
本发明涉及自动驾驶技术领域,具体提供一种车道居中控制方法、电子设备、存储介质及车辆,旨在解决现有的车道居中控制系统主要通过前馈模块和反馈模块对车辆进行控制从而导致在高动态工况下的控制误差较大的技术问题。为此目的,本发明的车道居中控制方法包括:获取车辆状态信息和环境感知信息;基于车辆状态信息确定动态转角指令控制值;基于环境感知信息分别确定前馈方向盘转角指令控制值和反馈方向盘转角指令控制值;基于动态转角指令控制值、前馈方向盘转角指令控制值和反馈方向盘转角指令控制值对车辆的执行器进行控制。如此,减小了控制误差,提高了控制精度,保证了车辆的稳定性和安全性。
Lane centering control method, electronic equipment, storage medium and vehicle
车道居中控制方法、电子设备、存储介质及车辆
2023-04-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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