The invention relates to a vehicle dynamic planning control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a current speed, a current turning angle and a target track of a vehicle; the current speed and the current rotation angle are used as planning starting points, planning points are generated through layer-by-layer iteration according to the speed variable quantity and the rotation angle variable quantity of the unit period, and multiple planning sequences of vehicle control are obtained; iteratively calculating a vehicle state corresponding to each planning point layer by layer based on a vehicle kinematics state model, wherein the vehicle state comprises horizontal and vertical coordinates and a course angle of the vehicle; and according to the lateral displacement deviation between the vehicle state of each planning point in the planning sequence and the reference state of the reference point corresponding to the target trajectory, determining the planning sequence with the minimum overall lateral deviation with the target trajectory, and taking the planning sequence as the output of vehicle control. By adopting the method, the future vehicle state can be efficiently predicted, and vehicle control can be precisely planned.
本申请涉及一种车辆动态规划控制方法、装置、计算机设备和存储介质。所述方法包括:获取车辆的当前速度、当前转角、以及目标轨迹;以当前速度与当前转角为规划起始点,按照单位周期的速度变化量与转角变化量逐层迭代生成规划点,并得到车辆控制的多条规划序列;基于车辆运动学状态模型逐层迭代计算各个规划点对应的车辆状态,车辆状态包括车辆的横纵坐标与航向角;根据规划序列中各个规划点的车辆状态与目标轨迹对应参考点的参考状态之间的横向位移偏差,确定与目标轨迹整体横向偏差最小的规划序列,作为车辆控制的输出。采用本方法能够高效预测未来车辆状态并精准规划车辆控制。
Vehicle dynamic planning control method and device, computer equipment and storage medium
车辆动态规划控制方法、装置、计算机设备和存储介质
2023-05-30
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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