The invention relates to the technical field of automatic driving, in particular to a vehicle steering instruction generation method and device, equipment and a medium. The method comprises the steps that after a vehicle is started, the instability coefficient of a vehicle steering actuator is periodically updated; when a steering trigger instruction of the vehicle is received, a current instability coefficient is obtained; determining a control increment weight based on the current instability coefficient; based on the control increment weight, the vehicle steering instruction is generated, and the vehicle steering instruction comprises vehicle target steering angle data. According to the technical scheme provided by the embodiment of the invention, the instability coefficient capable of reflecting the response capability of the vehicle steering actuator is obtained before the vehicle steering instruction is generated each time, the MPC control increment weight is adjusted based on the obtained instability coefficient, and the vehicle steering instruction most suitable for the current situation is further generated. The stability and accuracy of vehicle steering are improved, and the robustness of an MPC trajectory tracking control algorithm is further improved.
本公开涉及自动驾驶技术领域,尤其涉及一种车辆转向指令的生成方法、装置、设备及介质。方法包括:车辆启动后,周期性地更新车辆转向执行器的不稳定系数;收到车辆的转向触发指令时,获取当前的不稳定系数;基于当前的不稳定系数,确定控制增量权重;基于所述控制增量权重,生成所述车辆转向指令,所述车辆转向指令包括车辆目标转角数据。本公开实施例提供的技术方案每次生成车辆转向指令之前都获取能够反映车辆转向执行器响应能力的不稳定系数,基于所获取的不稳定系数来调整MPC控制增量权重,进一步生成最适合当前情况的车辆转向指令,提升了车辆转向的稳定性与准确性,进一步提升了MPC轨迹跟踪控制算法的鲁棒性。
Vehicle steering instruction generation method and device, equipment and medium
一种车辆转向指令的生成方法、装置、设备及介质
2023-09-12
Patent
Electronic Resource
Chinese
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