The invention is suitable for the technical field of vehicles, and provides a vehicle transverse control method and device, a vehicle and a storage medium. The vehicle transverse control method comprises the steps that current positioning information of a vehicle, current state information of the vehicle and a planned track of the vehicle are obtained; the planning track comprises a planning position and a road curvature; according to the current positioning information and the planned position, determining a transverse error and a course angle error of a steering wheel angle; determining a first steering wheel angle according to the lateral error, the course angle error, the road curvature and the current state parameter; determining a steering wheel correction angle according to the lateral error; and determining a target steering wheel angle according to the first steering wheel angle and the steering wheel correction angle. The vehicle transverse control method provided by the embodiment of the invention can solve the problem that the transverse control of the vehicle is influenced by the insufficient steering characteristic of the vehicle.
本申请适用于车辆技术领域,提供了一种车辆横向控制方法、装置、车辆及存储介质。所述车辆横向控制方法包括:获取车辆的当前定位信息、车辆的当前状态信息和车辆的规划轨迹;规划轨迹包括规划位置和道路曲率;根据当前定位信息和规划位置,确定方向盘转角的横向误差和航向角误差;根据横向误差、航向角误差、道路曲率和当前状态参数,确定第一方向盘转角;根据横向误差,确定方向盘修正转角;根据第一方向盘转角和方向盘修正转角,确定目标方向盘转角。本申请实施例提供的车辆横向控制方法可以解决由于车辆的不足转向特性影响车辆横向控制的问题。
Vehicle transverse control method and device, vehicle and storage medium
车辆横向控制方法、装置、车辆及存储介质
2024-02-09
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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