The invention provides a transverse control method and device for a four-wheel steering vehicle, electronic equipment and a storage medium. The transverse control method of the four-wheel steering vehicle comprises the steps that the wheelbase, the current speed, the current front wheel turning angle, the current position information and the current path information of the four-wheel steering vehicle are obtained, wherein the current path information comprises the information of a reference position corresponding to the current position on the current path and the road curvature; determining a turning angle coefficient of the four-wheel steering vehicle; determining the current course angle deviation and the road transverse deviation of the four-wheel steering vehicle according to the current position information and the reference position information of the four-wheel steering vehicle; and determining a front wheel turning angle and a rear wheel turning angle of the four-wheel steering vehicle at the future moment according to the wheel base and the turning angle coefficient of the four-wheel steering vehicle, the current front wheel turning angle, the course angle deviation, the road transverse deviation, the speed and the road curvature corresponding to the current position of the four-wheel steering vehicle. According to the embodiment of the invention, the independent control of the transverse movement of the four-wheel steering vehicle can be realized, and the method has the advantages of high precision, strong robustness and the like in a low-speed scene.
本公开提供了一种四轮转向车辆的横向控制方法、装置、电子设备及存储介质。本公开实施例的四轮转向车辆的横向控制方法包括:获取四轮转向车辆的轴距、当前速度、当前前轮转角、当前位置信息和当前路径信息,当前路径信息包括当前路径上对应当前位置的参考位置的信息和道路曲率;确定四轮转向车辆的转角系数;根据四轮转向车辆的当前位置信息和参考位置信息,确定四轮转向车辆当前的航向角偏差和道路横向偏差;根据四轮转向车辆的轴距、转角系数以及四轮转向车辆当前的前轮转角、航向角偏差、道路横向偏差、速度、对应当前位置的道路曲率,确定四轮转向车辆在未来时刻的前轮转角和后轮转角。本公开实施例能够实现四轮转向车辆横向运动的独立控制,在低速场景下具备精度高、鲁棒性强等优点。
Transverse control method and device of four-wheel steering vehicle, electronic equipment and storage medium
四轮转向车辆的横向控制方法、装置、电子设备及存储介质
2023-08-15
Patent
Electronic Resource
Chinese
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