The invention discloses a vehicle, a track following control method and device thereof and a storage medium, and the method comprises the following steps: obtaining a front axle side slip angle and/or a rear axle side slip angle of the vehicle, and judging whether the vehicle is in an unstable state or not according to the front axle side slip angle and/or the rear axle side slip angle; if the vehicle is in the unstable state, expected front axle lateral force and expected rear axle braking force of the vehicle are obtained; and according to the expected front axle lateral force and the expected rear axle braking force, the vehicle is controlled to conduct track following based on braking drifting. Therefore, the front axle steering and the rear axle braking are combined to control the vehicle to follow the track based on the braking drift, so that the good track following capacity of the vehicle can be guaranteed in the unstable state, the safety and the reliability of the vehicle are improved, the front axle steering and the rear axle braking are combined to control, the requirement for the power performance of the vehicle is low, and the vehicle is safe and reliable. The applicability is wide.

    本发明公开了一种车辆及其轨迹跟随控制方法、装置和存储介质,其中,方法包括以下步骤:获取车辆的前轴侧偏角和/或后轴侧偏角,并根据前轴侧偏角和/或后轴侧偏角判断车辆是否处于失稳状态;若车辆处于失稳状态,则获取车辆的期望前轴侧向力和期望后轴制动力;根据期望前轴侧向力和期望后轴制动力控制车辆进行基于制动漂移的轨迹跟随。由此,通过采用前轴转向与后轴制动联合控制车辆进行基于制动漂移的轨迹跟随,以使车辆在失稳状态下同样能够保证良好的轨迹跟随能力,提高车辆的安全性与可靠性,且采用前轴转向与后轴制动联合控制,对车辆的动力性能要求低,适用性广泛。


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    Title :

    Vehicle, track following control method and device thereof and storage medium


    Additional title:

    车辆及其轨迹跟随控制方法、装置和存储介质


    Contributors:
    DENG ZHIHUI (author) / WU BAINIAN (author) / BAI FURU (author)

    Publication date :

    2024-02-20


    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



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