The invention discloses a vehicle driving trajectory tracking method, a control system, a vehicle and a storage medium. The method comprises the following steps: acquiring planning information and positioning information; determining a longitudinal control quantity and a lateral control quantity based on the planning information and the positioning information; determining a target acceleration based on the longitudinal control quantity; determining a target steering wheel angle based on the lateral control amount; determining a first steering wheel torque based on the target steering wheel angle and an observed quantity, the observed quantity including a disturbance observed quantity; and working according to the target acceleration and the first steering wheel torque. Under the control of the target acceleration and the first steering wheel torque, the vehicle can perform tracking driving according to the planned path. Besides, after the first steering wheel torque is compensated and corrected through the disturbance observed quantity, when the vehicle works according to the first steering wheel torque, interference of noise to a control system can be reduced, and the tracking precision of the planned path is improved.

    本申请公开了一种车辆驾驶轨迹的跟踪方法、控制系统、车辆及存储介质。本方法包括:获取规划信息和定位信息;基于规划信息和定位信息,确定纵向控制量和横向控制量;基于纵向控制量,确定目标加速度;基于横向控制量,确定目标方向盘转角;基于目标方向盘转角和观测量,确定第一方向盘扭矩,观测量包括扰动观测量;按照目标加速度和第一方向盘扭矩进行工作。本申请中的车辆在目标加速度和第一方向盘扭矩的控制下,可以按照规划路径进行跟踪行驶。此外,在通过扰动观测量对第一方向盘扭矩进行补偿校正后,车辆在按照第一方向盘扭矩进行工作时,能够降低噪声对控制系统的干扰,提高了规划路径的跟踪精度。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle driving trajectory tracking method, control system, vehicle and storage medium


    Additional title:

    车辆驾驶轨迹的跟踪方法、控制系统、车辆及存储介质


    Contributors:
    XIA XIN (author) / WANG WENYU (author) / ZHANG WEILIN (author) / ZHANG ZHIDE (author)

    Publication date :

    2023-10-24


    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



    Vehicle trajectory tracking control method and device, vehicle and storage medium

    WANG XINZHI / LIU JINBO / WANG YU et al. | European Patent Office | 2023

    Free access

    Vehicle trajectory tracking method and vehicle trajectory tracking system

    WANG XIAOHUI / AN GAOFENG | European Patent Office | 2020

    Free access


    METHOD FOR DETERMINING VEHICLE DRIVING TRAJECTORY, COMPUTER DEVICE, STORAGE MEDIUM, AND VEHICLE

    FAN HAOYANG / QIN HAILONG / REN SHAOQING et al. | European Patent Office | 2025

    Free access