The invention discloses a vehicle curve center driving control method and device, a terminal and a storage medium. The method comprises the steps that the curvature radius of a curve where a vehicle runs is obtained; calculating a first steering wheel angle of the vehicle based on an Ackerman model and the radius of curvature; obtaining a correction coefficient; and correcting the first steering wheel angle of the vehicle by using the correction coefficient to obtain a target steering wheel angle of the vehicle so as to control the vehicle to run in the middle of the curve through the target steering wheel angle of the vehicle. According to the method, the vehicle is controlled to run on the basis of the curve curvature, the steering wheel angle of the vehicle is corrected through the correction parameters, the accuracy of the steering wheel angle of the vehicle in the curve running process is improved, curve centering of the vehicle in the high-speed running scene can be achieved, and then the stability of vehicle curve centering control is achieved.

    本申请公开了一种车辆弯道居中行驶控制方法、装置、终端及存储介质,方法包括:获取车辆所行驶的弯道的曲率半径;基于阿克曼模型和曲率半径,计算车辆的第一方向盘转角;获取修正系数;利用修正系数对车辆的第一方向盘转角进行修正,得到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在弯道居中行驶。本发明基于弯道曲率来控制车辆行驶,并通过修正参数对车辆方向盘转角进行修正,不仅提升了车辆在弯道行驶过程中方向盘转角的准确度,还可使车辆再高速行驶场景下实现弯道居中,进而实现车辆弯道居中控制的稳定性。


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    Title :

    Vehicle curve center driving control method and device, terminal and storage medium


    Additional title:

    车辆弯道居中行驶控制方法、装置、终端及存储介质


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

    Publication date :

    2024-10-22


    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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