The invention discloses a vehicle transverse and longitudinal cooperative control method and device, a vehicle and a storage medium, and the vehicle transverse and longitudinal cooperative control method comprises the steps: calculating a feed-forward acceleration and a feed-forward steering wheel rotation angle according to vehicle parameter information, a target track, pose information and information; based on the predicted state error obtained by the hysteresis controller and the current actual state error obtained by sampling the target vehicle at the current moment, the predicted state error and the current actual state error are fused; mPC feedback calculation is carried out based on the fused state error, and a feedback acceleration and a feedback steering wheel turning angle are obtained; and performing transverse and longitudinal control on the target vehicle according to the feedback acceleration, the feedback steering wheel rotation angle, the feed-forward acceleration and the feed-forward steering wheel rotation angle. The feedback acceleration and the feedback steering wheel turning angle with the system time lag act on the vehicle system together with the feed-forward acceleration and the feed-forward steering wheel turning angle, the pure lag characteristic in the system is avoided, and the stability of the system is further improved.
本申请公开了一种车辆横纵向协同控制方法、装置、车辆及存储介质,该车辆横纵向协同控制方法包括:根据车辆参数信息、目标轨迹、位姿信息以及信息,计算前馈加速度与前馈方向盘转角;基于滞环控制器获取的预测状态误差以及当前时刻对目标车辆采样获取的当前实际的状态误差,将预测状态误差与当前实际的状态误差进行融合;基于融合后的状态误差进行MPC反馈计算,得到反馈加速度与反馈方向盘转角;根据反馈加速度与反馈方向盘转角以及前馈加速度与前馈方向盘转角对目标车辆进行横纵向控制。带有系统时滞的反馈加速度以及反馈方向盘转角,与前馈加速度以及前馈方向盘转角共同作用于车辆系统,避免了系统中纯滞后特性,进一步提高了系统的稳定性。
Vehicle transverse and longitudinal cooperative control method and device, vehicle and storage medium
车辆横纵向协同控制方法、装置、车辆及存储介质
2024-09-20
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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