The invention relates to the field of automobile automatic driving, and discloses a vehicle transverse control method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining vehicle preset parameters, space prediction parameters and prediction custom parameters, and configuring a state prediction model according to the prediction custom parameters; vehicle preset parameters and space prediction parameters are processed through a state prediction model, and a prediction state quantity is obtained; obtaining a path reference sequence, and determining a position prediction error according to the path reference sequence and the prediction state quantity; obtaining a user-defined weighting matrix, and determining a control gain according to the user-defined weighting matrix and the predicted state quantity; determining a prediction control increment according to the position prediction error and the control gain; and obtaining a current control quantity, and determining a target control quantity according to the prediction control increment and the current control quantity. According to the invention, the precision and stability of vehicle transverse control can be improved.
本发明涉及汽车自动驾驶领域,本发明公开了一种车辆横向控制方法、装置、计算机设备及存储介质,其方法包括:获取车辆预设参数、空间预测参数和预测自定义参数,根据预测自定义参数配置状态预测模型;通过状态预测模型处理车辆预设参数和空间预测参数,获得预测状态量;获取路径参考序列,根据路径参考序列和预测状态量确定位置预测误差;获取自定义加权矩阵,根据自定义加权矩阵和预测状态量确定控制增益;根据位置预测误差和控制增益确定预测控制增量;获取当前控制量,根据预测控制增量和当前控制量确定目标控制量。本发明可以提高车辆横向控制的精度和稳定性。
Vehicle transverse control method and device, computer equipment and storage medium
车辆横向控制方法、装置、计算机设备及存储介质
2024-09-13
Patent
Electronic Resource
Chinese
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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