The invention belongs to the technical field of vehicle control, and discloses a vehicle transverse control method, device and equipment and a storage medium. The method comprises the following steps: acquiring vehicle driving information; calculating a near-point front wheel control quantity according to the vehicle driving information and a preset control algorithm; calculating a far-point front wheel control quantity according to the vehicle driving information and the target curvature model; calculating an error correction steering wheel angle according to the vehicle driving information; calculating a target front wheel steering angle according to the near-point front wheel control amount, the far-point front wheel control amount and the error correction steering wheel steering angle; and performing transverse control on the vehicle according to the target front wheel steering angle. By means of the mode, the defects of a traditional preview model can be overcome, the system overshoot influence caused by a non-preview LQR controller at the curvature sudden change position can be avoided, and the tracking precision, the driving stability and the riding comfort can be improved.
本发明属于车辆控制技术领域,公开了一种车辆横向控制方法、装置、设备及存储介质。该方法包括:获取车辆行驶信息;根据车辆行驶信息和预设控制算法计算得到近点前轮控制量;根据车辆行驶信息和目标曲率模型计算远点前轮控制量;根据车辆行驶信息计算误差修正方向盘转角;根据近点前轮控制量、远点前轮控制量和误差修正方向盘转角计算目标前轮转角;根据目标前轮转角对车辆进行横向控制。通过上述方式,既能解决传统预瞄模型的不足又能解决非预瞄LQR控制器在曲率突变处带来的系统超调影响,能够提高跟踪精度、行车稳定性和乘车舒适性。
Vehicle transverse control method, device and equipment and storage medium
车辆横向控制方法、装置、设备及存储介质
2023-06-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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