The invention relates to the technical field of vehicles, in particular to a vehicle transverse control method, device and equipment and a computer readable storage medium, and the method comprises the steps that the current vehicle speed of a vehicle and the road curvature of a road where the vehicle is located are obtained; adjusting a reference state weight matrix of a transverse controller of the vehicle through the current vehicle speed and the road curvature to obtain a target state weight matrix, and adjusting a reference control weight matrix of the transverse controller through the road curvature to obtain a target control weight matrix; and determining a target steering angle of the vehicle according to the target state weight matrix and the target control weight matrix, and performing transverse control on the vehicle based on the target steering angle. According to the invention, the accuracy of vehicle transverse control is improved.
本申请涉及车辆技术领域,尤其涉及一种车辆横向控制方法、装置、设备及计算机可读存储介质,方法包括:获取车辆的当前车速和所述车辆所处道路的道路曲率;通过所述当前车速和所述道路曲率调整车辆的横向控制器的基准状态权重矩阵得到目标状态权重矩阵,并通过道路曲率调整横向控制器的基准控制权重矩阵得到目标控制权重矩阵;根据目标状态权重矩阵和目标控制权重矩阵确定车辆的目标转向角,并基于目标转向角对车辆进行横向控制。本申请实现了提高车辆横向控制的准确度。
Vehicle transverse control method, device and equipment and computer readable storage medium
车辆横向控制方法、装置、设备及计算机可读存储介质
2023-10-27
Patent
Electronic Resource
Chinese
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