The invention relates to a tracking reversing transverse control method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps: if the vehicle does not have a fault, obtaining at least one driving track data of a horizontal coordinate, a vertical coordinate and a vehicle body yaw angle of the vehicle according to the distance information between the vehicle and a target obstacle; the method comprises the following steps: acquiring a driving track of a vehicle within a target distance when the vehicle runs from a current position to a target position, controlling the vehicle to enter a tracking reversing mode when the vehicle is in a route when returning to the current position and within the target distance, and performing path tracking transverse control according to an active disturbance rejection controller (ADRC) to obtain a tracking reversing transverse control result. According to the embodiment of the invention, reverse processing can be carried out on the recorded driving track array to obtain the tracking target track, and path tracking transverse control is carried out according to the ADRC, so that the trafficability of reversing of the vehicle on a narrow road is effectively improved, the reversing return efficiency is improved, and the intelligence and practicability of the vehicle are improved.

    本申请涉及一种车辆的循迹倒车横向控制方法、装置、车辆及存储介质,其中,方法包括:若车辆未出现故障,则根据车辆与目标障碍物的距离信息获取车辆的横坐标、纵坐标和车身横摆角中的至少一个行驶轨迹数据;获取车辆从当前位置行驶至目标位置时目标距离内的行驶轨迹,在车辆处于返回当前位置时的路线,且在目标距离内的情况下,控制车辆进入循迹倒车模式,并根据自抗扰控制器ADRC进行路径跟踪横向控制,得到循迹倒车横向控制结果。本申请实施例可以将记录的行驶轨迹数组做逆向处理,得到循迹目标轨迹,并根据ADRC进行路径跟踪横向控制,从而有效增加车辆在狭窄道路倒车的通过性,提升倒车返回的效率,提高了车辆的智能性和实用性。


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    Title :

    Tracking reversing transverse control method and device of vehicle, vehicle and medium


    Additional title:

    车辆的循迹倒车横向控制方法、装置、车辆及介质


    Contributors:
    ZHU KEFU (author) / WANG YU (author) / ZHANG JIAN (author) / LI LINRUN (author) / JIANG HONGWEI (author) / SUN YUHANG (author) / LI ZUOWEN (author) / MENG FANDUO (author)

    Publication date :

    2024-07-05


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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