The invention discloses a vehicle motion control method and system, electronic equipment and a storage medium. The method comprises the steps that a function logic control module receives a function control request, performs logic judgment on the function control request and outputs a function logic control instruction, and then a trajectory tracking control module activates a trajectory tracking function based on the function logic control instruction and outputs the trajectory tracking control instruction to a target distribution layer; receiving a trajectory tracking control instruction through a target distribution control module, decomposing the trajectory tracking control instruction, and outputting a plurality of transverse and longitudinal control instructions obtained through decomposition to a coordination control layer; and receiving the plurality of transverse and longitudinal control instructions through a transverse and longitudinal coordination control module, converting the plurality of transverse and longitudinal control instructions to obtain dynamic instructions corresponding to the plurality of transverse and longitudinal control instructions, and outputting the dynamic instructions to corresponding actuators. According to the scheme, the problem of target allocation of multiple actuators is solved through the vehicle motion control platform.
本发明公开了一种车辆运动控制方法、系统、电子设备及存储介质。该方法包括:通过功能逻辑控制模块接收功能控制请求,对功能控制请求进行逻辑判断,并输出功能逻辑控制指令,进而轨迹跟踪控制模块基于功能逻辑控制指令对轨迹跟踪功能进行激活,并输出轨迹跟踪控制指令至目标分配层;通过目标分配控制模块,接收轨迹跟踪控制指令,对轨迹跟踪控制指令进行分解,并输出分解得到的多个横纵向控制指令至协调控制层;通过横纵向协调控制模块,接收多个横纵向控制指令,对多个横纵向控制指令进行转换,得到多个横纵向控制指令分别对应的动力学指令,将各动力学指令输出至对应的执行器。上述方案,通过车辆运动控制平台解决了多执行器目标分配的问题。
Vehicle motion control method and system, electronic equipment and storage medium
车辆运动控制方法、系统、电子设备及存储介质
2023-08-22
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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