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 method comprises the following steps: acquiring a state deviation between a vehicle and a target trajectory point on an expected trajectory; when the state deviation exceeds a preset range, pre-adjusting the state of the vehicle according to a control parameter calculated by substituting a state parameter difference value between the vehicle and the target track point into a vehicle state error model and a target transition track; according to a parameter difference value between the pre-adjusted current state parameter of the vehicle and a target state parameter determined based on the expected trajectory; calculating a reference control parameter according to the parameter difference value and a vehicle tracking error model; and the vehicle is controlled to drift according to the expected trajectory according to the reference control parameters, in this way, when the vehicle state deviates from the trajectory matching point state greatly, the vehicle is transited to the balance state firstly, then the vehicle is controlled according to the expected trajectory, and 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。本发明通过获取车辆与期望轨迹上的目标轨迹点之间的状态偏差;在状态偏差超过预设范围时,按照车辆与目标轨迹点之间的状态参数差值代入车辆状态误差模型计算得到的控制参数以及目标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与基于期望轨迹确定的目标状态参数之间的参数差值;根据参数差值和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,通过上述方式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。
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
2023-06-23
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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