The invention provides a vehicle transverse control method and device, electronic equipment and a storage medium. The vehicle transverse control method comprises the steps that current real-time position information and planned path information of a vehicle are obtained, wherein the planned path information comprises information of a reference position corresponding to the current real-time position on a current planned path, the current speed of the vehicle and the wheelbase of the vehicle; according to the current real-time position information and the reference position information of the vehicle, the current course angle deviation and the road transverse deviation of the vehicle are determined; and according to the wheelbase of the vehicle and the current course angle deviation, the road transverse deviation, the speed and the feed-forward rotation angle of the vehicle, determining the front wheel rotation angle of the vehicle in the future moment. According to the embodiment of the invention, the transverse and longitudinal decoupling control of the vehicle can be realized, and the control precision is higher under the scenes of larger front wheel rotation angle, low-speed movement of the vehicle and the like.
本公开提供了一种车辆横向控制方法、装置、电子设备及存储介质。本公开实施例的车辆横向控制方法包括:获取车辆当前的实时位置信息和规划路径信息,规划路径信息包括当前规划路径上对应当前实时位置的参考位置的信息、车辆当前的速度、车辆的轴距;根据车辆当前的实时位置信息和参考位置的信息,确定车辆当前的航向角偏差和道路横向偏差;根据车辆的轴距和车辆当前的航向角偏差、道路横向偏差、速度及前馈转角,确定车辆未来时刻的前轮转角。本公开实施例可实现车辆的横纵向解耦控制,在较大前轮转角、车辆低速运动等场景下均具有较高的控制精度。
Vehicle transverse control method and device, electronic equipment and storage medium
车辆横向控制方法、装置、电子设备及存储介质
2023-09-01
Patent
Electronic Resource
Chinese
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