The invention discloses a driving control method, electronic equipment and a vehicle. The method comprises the following steps: acquiring an actual yaw velocity, a side slip angle, a driving distance from the vehicle to a measuring point and a driving distance from the measuring point to a target path of the vehicle; a two-degree-of-freedom vehicle model is established, a first front wheel turning angle is obtained based on the actual yaw velocity, and a second front wheel turning angle is obtained based on the side slip angle; establishing a single-point preview model, and obtaining an ideal preview yaw velocity based on the driving distance between the vehicle and the measurement point and the driving distance between the measurement point and the target path; obtaining a third front wheel rotation angle based on the actual yaw velocity and the ideal preview yaw velocity through a sliding mode controller; a steering wheel angle is obtained based on the first front wheel angle, the second front wheel angle, and the third front wheel angle. According to the driving control method provided by the invention, lateral control of a driver is realized by adopting a control mode of combining single-point preview and sliding mode control based on a two-degree-of-freedom vehicle model, and vehicle trajectory tracking and lane keeping functions are realized.
本发明公开了一种驾驶控制方法、电子设备及车辆,所述方法包括:获取车辆的实际横摆角速度、质心侧偏角、车辆距测量点行驶距离和测量点距目标路径行驶距离;建立二自由度车辆模型,基于实际横摆角速度获得第一前轮转角,基于质心侧偏角获得第二前轮转角;建立单点预瞄模型,基于车辆距测量点行驶距离和测量点距目标路径行驶距离获得理想预瞄横摆角速度;通过滑模控制器,基于实际横摆角速度与理想预瞄横摆角速度获得第三前轮转角;基于第一前轮转角、第二前轮转角和第三前轮转角获得方向盘转角。根据本发明提供的驾驶控制方法,基于二自由度车辆模型采用单点预瞄和滑模控制相结合的控制方式实现驾驶员横向控制,实现车辆轨迹跟踪及车道保持功能。
Driving control method, electronic equipment and vehicle
一种驾驶控制方法、电子设备及车辆
2024-11-29
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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