The invention provides a vehicle automatic driving control method and device, a terminal and a storage medium. The method comprises the following steps: acquiring an expected acceleration value and an expected front wheel steering angle value, inputting the expected acceleration value and the expected front wheel steering angle value into a transverse and longitudinal control two-degree-of-freedom model, and calculating a wheel end torque and a steering torque so as to control the vehicle to run automatically; acquiring an actual front wheel steering angle value, an actual acceleration value and an actual driving speed; determining a first correction value according to the expected acceleration value and the actual acceleration value, and determining a second correction value according to the expected front wheel steering angle value, the actual front wheel steering angle value, the steering torque and the actual driving speed; and correcting the transverse and longitudinal control two-degree-of-freedom model according to the first correction value and the second correction value, calculating a wheel end torque and a steering torque according to the corrected transverse and longitudinal control two-degree-of-freedom model, and executing subsequent operations. According to the embodiment of the invention, the control model is corrected by integrating multiple parameters, so that the adaptability of the control model can be enhanced.

    本发明提供一种用于车辆自动行驶控制的方法、装置、终端及存储介质。该方法包括:获取加速度期望值和前轮转角期望值,并将加速度期望值和前轮转角期望值输入横纵向控制二自由度模型,计算轮端扭矩和转向扭矩,以控制车辆自动行驶;获取实际前轮转角值、实际加速度值和实际行驶速度;根据加速度期望值与实际加速度值确定第一修正值,并根据前轮转角期望值、实际前轮转角值、转向扭矩和实际行驶速度确定第二修正值;根据第一修正值和第二修正值对横纵向控制二自由度模型进行修正,根据修正后的横纵向控制二自由度模型计算轮端扭矩和转向扭矩,并执行之后的操作。本发明实施例综合多项参数对控制模型进行修正,能够增强控制模型的适应性。


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    Title :

    Method and device for vehicle automatic driving control, terminal and storage medium


    Additional title:

    用于车辆自动行驶控制的方法、装置、终端及存储介质


    Contributors:
    YUAN RUNZHI (author)

    Publication date :

    2024-04-09


    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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