The invention discloses a vehicle drift trajectory control method, device and equipment and a storage medium, and belongs to the technical field of vehicle control. The target state parameter is determined based on the expected trajectory corresponding to the vehicle; acquiring a current state parameter of the vehicle; determining a parameter difference value between the current state parameter and the target state parameter; calculating a reference control parameter according to the parameter difference value and a vehicle tracking error model; controlling the vehicle to drift according to the expected trajectory according to the reference control parameter, calculating a target control parameter through the current state parameter of the vehicle and the target state parameter corresponding to the expected trajectory, and then controlling the vehicle to drift according to the expected trajectory through the target control parameter without calibrating the physical parameters of the vehicle. The method does not depend on an empirical kinetic model, directly calibrates control parameters, and improves the precision of vehicle drift trajectory control.
本发明公开了一种车辆漂移轨迹控制方法、装置、设备及存储介质,属于车辆控制技术领域。本发明通过基于车辆对应的期望轨迹确定目标状态参数;获取所述车辆的当前状态参数;确定所述当前状态参数和所述目标状态参数之间的参数差值;根据所述参数差值和车辆循迹误差模型计算参考控制参数;根据所述参考控制参数控制所述车辆按照所述期望轨迹进行漂移,通过车辆当前的状态参数以及期望轨迹对应的目标状态参数计算出目标控制参数,再通过目标控制参数控制车辆能够按照期望轨迹进行漂移,无需标定车辆物理参数,不依赖经验动力学模型,直接标定控制参数,提高了车辆漂移轨迹控制的精度。
Vehicle drift trajectory control method, device and equipment and storage medium
车辆漂移轨迹控制方法、装置、设备及存储介质
2023-05-19
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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