The embodiment of the invention provides a vehicle transverse control method and device, equipment and a storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: calculating an actual transverse offset distance between the current position of a target vehicle and an expected path, and a first difference value between the actual transverse offset distance and the expected transverse offset distance; according to the first difference value, the expected transverse speed of the target vehicle is calculated; according to a second difference value between the expected transverse speed and the actual transverse speed of the target vehicle, the expected transverse acceleration of the target vehicle is calculated; calculating an expected yaw velocity of the target vehicle according to the expected lateral acceleration; and calculating an expected steering wheel angle of the target vehicle according to the expected yaw velocity, and adjusting the steering wheel angle of the target vehicle to the expected steering wheel angle. According to the method, PID control is adopted in multi-level calculation, compared with the prior art that PID control is only adopted in single-level calculation, the method has the advantages of being high in robustness and accuracy, and meanwhile the algorithm is low in complexity and high in calculation real-time performance.
本申请实施例提供一种车辆横向控制方法、装置、设备及存储介质,涉及车辆控制技术领域,包括:计算目标车辆当前位置与期望路径的实际横向偏移距离,与期望横向偏移距离的第一差值;根据第一差值,计算目标车辆的期望横向速度;根据期望横向速度与目标车辆实际横向速度的第二差值,计算目标车辆的期望横向加速度;根据期望横向加速度,计算目标车辆的期望横摆角速度;根据期望横摆角速度,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。本申请的方法,在多层级的计算中采用PID控制,相比现有技术中仅在单一层级的计算中采用PID控制,具有鲁棒性、准确性高的优势,同时本申请算法复杂度低,计算的实时性高。
Vehicle transverse control method, device and equipment and storage medium
车辆横向控制方法、装置、设备及存储介质
2024-11-08
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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