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. According to the invention, when the state deviation between the vehicle and the target trajectory point on the expected trajectory exceeds the preset range, the initial transition trajectory is constructed, and the initial transition trajectory is adjusted based on the plurality of sampling points; pre-adjusting the state of the vehicle according to the adjusted transition track according to a control parameter obtained according to a state parameter difference value between the vehicle and the target track point; a reference control parameter is calculated according to a parameter difference value between a current state parameter of the vehicle after pre-adjustment and a target state parameter determined by an expected track and in combination with a vehicle tracking error model, and the vehicle is controlled to drift according to the expected track according to the reference control parameter. The vehicle is transited to the balance state, and then the vehicle is controlled according to the expected trajectory, so that the precision of vehicle drift trajectory control is improved.

    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。本发明通过在车辆与期望轨迹上的目标轨迹点之间的状态偏差超过预设范围时,构建初始过渡轨迹,基于若干采样点对初始过渡轨迹进行调整,并根据车辆与目标轨迹点之间的状态参数差值得到的控制参数按照调整后的过渡轨迹对车辆的状态进行预调整;根据预调整后车辆的当前状态参数和期望轨迹确定的目标状态参数之间的参数差值以及结合车辆循迹误差模型计算参考控制参数,根据参考控制参数控制车辆按照期望轨迹进行漂移,能够在车辆状态偏离轨迹匹配点状态较大时,先将车辆过渡到平衡状态,然后再按照期望轨迹对车辆进行控制,提升了车辆漂移轨迹控制的精度。


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    Title :

    Vehicle drift trajectory control method, device and equipment and storage medium


    Additional title:

    车辆漂移轨迹控制方法、装置、设备及存储介质


    Contributors:
    QIN ZIYU (author) / ZHANG ZHAO (author)

    Publication date :

    2023-06-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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