The invention discloses a vehicle lateral motion control method, device and equipment and a storage medium. The method comprises the following steps: acquiring an ideal lateral acceleration and an actual lateral acceleration of a target vehicle; according to the ideal lateral acceleration and the actual lateral acceleration, error lateral acceleration and ideal differential parameters corresponding to the ideal lateral acceleration are determined. And determining an error control parameter according to the CMAC controller and the error lateral acceleration. According to the ideal differential parameter, the error control parameter, a historical steering wheel angle and a predetermined rotation lag parameter, a target steering wheel angle is determined, and lateral motion control is performed based on the target steering wheel angle, so that the robustness and the self-adaptability of a target vehicle lateral motion control system can be improved; the method has good track following performance and reaches the level of actual operation of a real driver.
本发明公开了一种车辆侧向运动控制方法、装置、设备及存储介质。该方法包括:获取目标车辆的理想侧向加速度和实际侧向加速度。根据所述理想侧向加速度和所述实际侧向加速度,确定误差侧向加速度,以及所述理想侧向加速度对应的理想微分参数。根据CMAC控制器和所述误差侧向加速度,确定误差控制参数。根据所述理想微分参数、所述误差控制参数、历史方向盘转角和预先确定的转动滞后参数,确定目标方向盘转角,并基于所述目标方向盘转角进行侧向运动控制,从而可以提高目标车辆侧向运动控制系统的鲁棒性和自适应性,具有较好的轨迹跟随性能,达到与真实驾驶员实际操纵的水准。
Vehicle lateral motion control method, device and equipment and storage medium
一种车辆侧向运动控制方法、装置、设备及存储介质
2024-11-12
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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