The invention relates to a transverse and longitudinal control signal prediction method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps that real-time operation data of the current vehicle are collected and preprocessed, and the real-time operation data comprise the accelerator pedal position, the brake pedal position, the vehicle speed, the longitudinal acceleration, the steering wheel angle and the yaw velocity; a to-be-predicted data set composed of the accelerator pedal position, the brake pedal position, the vehicle speed, the longitudinal acceleration, the steering wheel turning angle and the yaw velocity after preprocessing is obtained and input into a pre-built vehicle dynamics transverse and longitudinal control prediction model, and the longitudinal acceleration and the yaw velocity of the current vehicle are predicted, the vehicle dynamics transverse and longitudinal control prediction model is obtained by training a long-short term memory network through a to-be-trained data set. Therefore, the problems of low vehicle state estimation result precision, filtering divergence and the like caused by model inaccuracy and randomness of observation noise are solved, and the robustness and estimation precision of a vehicle state estimation algorithm are improved.
本申请涉及一种车辆的横纵向控制信号预测方法、装置、车辆及存储介质,包括:采集当前车辆的实时运行数据并进行预处理,实时运行数据包括油门踏板位置、制动踏板位置、车速、纵向加速度、方向盘转角和横摆角速度,得到由预处理后的油门踏板位置、制动踏板位置、车速、纵向加速度、方向盘转角和横摆角速度构成的待预测数据集,并输入至预先构建的车辆动力学横纵向控制预测模型,预测当前车辆的纵向加速度和横摆角速度,其中,车辆动力学横纵向控制预测模型由待训练数据集训练长短时记忆网络得到。由此,解决了因模型不精确和观测噪声的随机性导致车辆状态估计结果精度低和滤波发散等问题,以提高车辆状态估计算法的鲁棒性与估计精度。
Transverse and longitudinal control signal prediction method and device of vehicle, vehicle and storage medium
车辆的横纵向控制信号预测方法、装置、车辆及存储介质
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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