The invention provides a driving and parking integrated path tracking control method and device and an intelligent automobile. The driving and parking integrated path tracking control method comprises the steps that current position information, current driving information and current speed information of a target automobile are acquired; determining an expected path point corresponding to the current position based on a predetermined expected path, and determining driving information of the expected path point; wherein the expected path is obtained by adopting a unified input interface; determining a corresponding PID controller based on the current speed information, and inputting a transverse position difference value between the expected path point and the current position information, the driving information of the expected path point and the current driving information into the PID controller to obtain a target steering wheel torque of the target vehicle; and performing lateral control on the target vehicle based on the target steering wheel torque. According to the invention, the transverse control consistency and development efficiency of driving and parking are improved.

    本发明提供了一种行泊一体的路径跟踪控制方法、装置及智能汽车,包括:获取目标车辆的当前位置信息、当前行驶信息和当前速度信息;基于预先确定的期望路径确定当前位置对应的期望路径点,并确定期望路径点的行驶信息;其中,期望路径采用统一输入接口获取;基于当前速度信息确定对应的PID控制器,并将期望路径点和当前位置信息的横向位置差值、期望路径点的行驶信息和当前行驶信息输入到PID控制器中,得到目标车辆的目标方向盘扭矩;基于目标方向盘扭矩对目标车辆进行横向控制。本发明提高了行泊车的横向控制一致性和开发效率。


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    Title :

    Driving and parking integrated path tracking control method and device and intelligent automobile


    Additional title:

    行泊一体的路径跟踪控制方法、装置及智能汽车


    Contributors:
    LUO JUNKAI (author) / LI JIECHEN (author)

    Publication date :

    2023-09-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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