The invention discloses a vehicle centered driving control method, device and terminal, and the method comprises the steps: determining a first steering wheel turning angle of a vehicle through feedback calculation of a preview point where the vehicle is located, determining a front wheel turning angle of the vehicle through feedforward calculation of a balance point of a dynamic closed-loop system, and determining a second steering wheel turning angle of the vehicle through feedback calculation of a balance point of the dynamic closed-loop system, determining a second steering wheel angle of the vehicle based on the front wheel angle of the vehicle, and determining a target steering wheel angle of the vehicle based on the first steering wheel angle and the second steering wheel angle so as to control the vehicle to run in the middle through the target steering wheel angle of the vehicle. Trajectory tracking is used as feedback control, feedforward control of a balance point of a closed-loop system is matched, parameters needing to be tested and adjusted are few, scene adaptability is high, algorithm modeling is more accurate, and the effect that centering control is more stable, accurate and reliable can be achieved.

    本申请公开了一种车辆居中行驶控制方法、装置、终端,方法包括:通过车辆所处的预瞄点的反馈计算,确定车辆的第一方向盘转角,其中,预瞄点为车辆当前前进方向上的点,以及通过动力学闭环系统的平衡点的前馈计算,确定车辆的前轮转角,然后基于车辆的前轮转角,确定车辆的第二方向盘转角,再基于第一方向盘转角和第二方向盘转角,确定车辆的目标方向盘转角,以通过车辆的目标方向盘转角控制车辆居中行驶。本发明以轨迹跟踪为反馈控制,配合闭环系统平衡点的前馈控制,需要试验调整的参数少,场景适应性强,算法建模更加精确,可达到居中控制更加稳定、准确可靠的效果。


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    Title :

    Vehicle center driving control method, device and terminal


    Additional title:

    车辆居中行驶控制方法、装置、终端


    Contributors:
    ZHU ZHENMIN (author) / LIU WEI (author) / HU JUN (author) / QIN LI (author) / WU JUNKAI (author)

    Publication date :

    2024-10-15


    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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