The invention provides a vehicle transverse and longitudinal coupling control method and device, equipment and a storage medium, and relates to the technical field of intelligent driving, and the method comprises the steps: obtaining the road information of a target road section, and the motion state information of a target vehicle and surrounding vehicles; the target road section is a to-be-driven road section of the target vehicle; predicting an expected vehicle speed value of the target vehicle on the target road section according to the road information of the target road section and the motion state information of the target vehicle and the surrounding vehicles; and controlling the target vehicle to run at the expected vehicle speed value on the target road section, calculating an expected steering wheel angle of the target vehicle according to the expected vehicle speed value corresponding to the target road section and the transverse position deviation of the target vehicle relative to the lane center line of the target road section, and adjusting the steering wheel angle of the target vehicle to be the expected steering wheel angle. The road information of the to-be-driven road section and the motion states of the target vehicle and the front vehicle are considered, and the technical scheme of the invention is simple in control logic and low in calculation requirement.
本申请提供一种车辆横纵向耦合控制方法、装置、设备及存储介质,涉及智能驾驶技术领域,包括:获取目标路段的道路信息、目标车辆及周围车辆的运动状态信息运动状态信息;目标路段为目标车辆待行驶的路段;根据目标路段的道路信息、目标车辆及周围车辆的运动状态信息,预测目标车辆在目标路段的期望车速值;控制目标车辆在目标路段上以期望车速值行驶,同时根据目标路段对应的期望车速值、目标车辆相对目标路段车道中心线的横向位置偏差计算目标车辆的期望方向盘转角,并将目标车辆的方向盘转角调节为期望方向盘转角。本申请考虑了待行驶路段的道路信息、目标车辆和前方车辆运动状态,并且本申请的技术方案控制逻辑简单,对算力要求低。
Vehicle transverse and longitudinal coupling control method, device and equipment and storage medium
车辆横纵向耦合控制方法、装置、设备及存储介质
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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