The invention discloses a vehicle trajectory tracking control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining an actual vehicle trajectory and an expected vehicle trajectory, and determining a weight adaptive variable according to the actual vehicle trajectory and the expected vehicle trajectory; determining a target weight coefficient by combining a set weight adaptive fuzzy controller according to the weight adaptive variable; and according to the target weight coefficient, the actual vehicle trajectory and the expected vehicle trajectory, determining a current moment control quantity for trajectory tracking control, and acting the current moment control quantity on a vehicle system. According to the vehicle trajectory tracking control method provided by the invention, the weight of the control system is adaptively adjusted according to the working condition of the vehicle, so that the limitation of traditional model prediction control is overcome, the trajectory tracking robustness of the automatic driving vehicle is improved, and the stability and comfort in the trajectory tracking process can be considered.

    本发明公开了一种车辆轨迹跟踪控制方法、装置、车辆及存储介质,所述方法包括:获取车辆实际轨迹与车辆期望轨迹,根据车辆实际轨迹与所述车辆期望轨迹确定权重自适应变量;根据权重自适应变量,结合设定的权重自适应模糊控制器确定目标权重系数;根据目标权重系数、车辆实际轨迹及车辆期望轨迹确定用于轨迹跟踪控制的当前时刻控制量并作用于车辆系统。本发明提供的车辆轨迹跟踪控制方法,通过根据车辆所处工况对控制系统权重进行自适应调节,克服了传统模型预测控制的局限性,提高了自动驾驶车辆轨迹跟踪的鲁棒性,可以实现对轨迹跟踪过程中的稳定性和舒适性的兼顾。


    Access

    Download


    Export, share and cite



    Title :

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


    Additional title:

    一种车辆轨迹跟踪控制方法、装置、车辆及存储介质


    Contributors:
    WANG XINZHI (author) / LIU JINBO (author) / WANG YU (author) / ZHANG JIAN (author) / GAO YUAN (author) / LI BO (author)

    Publication date :

    2023-12-08


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

    XIA XIN / WANG WENYU / ZHANG WEILIN et al. | European Patent Office | 2023

    Free access

    Vehicle trajectory tracking method, device and equipment and storage medium

    WANG JUNLEI / LI JIANMING / WU XUEYI et al. | European Patent Office | 2020

    Free access

    Vehicle trajectory tracking control method and device, electronic equipment and storage medium

    XIE BO / ZHANG CAO / SU XINGYI | European Patent Office | 2024

    Free access

    Vehicle trajectory tracking method and vehicle trajectory tracking system

    WANG XIAOHUI / AN GAOFENG | European Patent Office | 2020

    Free access

    Vehicle trajectory tracking control method and device, electronic equipment and storage medium

    ZHANG ZHENGLONG / LIU TAO / WU ZHENXIN et al. | European Patent Office | 2022

    Free access