The invention discloses a vehicle transverse control method and device, electronic equipment and a storage medium, the method is applied to a commercial vehicle, and the method comprises the steps that the expected yaw velocity of the vehicle is determined; calculating the transverse position change rate of the vehicle according to the current transverse position deviation of the vehicle; according to the reference line and the vehicle speed, the yaw velocity based on the reference line is determined; on the basis of the transverse distance between the vehicle and the reference line within the preset adjustment time, according to the expected yaw velocity of the vehicle, the transverse position change rate of the vehicle and the yaw velocity based on the reference line, the yaw velocity of the vehicle is adjusted; and calculating a vehicle front wheel steering angle parameter required for eliminating the predicted transverse position deviation of the vehicle within the preset adjustment time so as to perform transverse control on the vehicle. According to the method and the device, online vehicle yaw velocity recognition and transverse control of the vehicle with the load easy to change can be well realized.
本申请公开了一种车辆横向控制方法、装置及电子设备、存储介质,应用于商用车,其中所述方法包括确定车辆的期望横摆角速度;根据所述车辆的当前横向位置偏差,计算车辆的横向位置变化率;根据参考线和车辆速度,确定基于参考线的横摆角速度;基于预设调整时间内所述车辆和所述参考线之间的横向距离,根据所述车辆的期望横摆角速度、所述车辆的横向位置变化率以及所述基于参考线的横摆角速度,计算在预设调整时间内使得车辆的预计横向位置偏差消除所需的车辆前轮转角参数,以对所述车辆进行横向控制。通过本申请,可以较好地实现对载重容易发生变化的车辆进行在线车辆横摆角速度的识别并进行横向控制。
Vehicle transverse control method and device, electronic equipment and storage medium
车辆横向控制方法、装置及电子设备、存储介质
2023-07-25
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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