The invention discloses a lateral motion control method, device and equipment of a vehicle and a storage medium. The lateral motion control method of the vehicle comprises the steps that an ideal driving track of the vehicle is obtained, and the expected steering acceleration of the vehicle is determined based on the ideal driving track; the actual steering acceleration of the vehicle at the previous moment is obtained, and the deviation acceleration is determined based on the actual steering acceleration at the previous moment and the expected steering acceleration; determining an initial steering angle at the current moment based on the deviation acceleration and the actual steering acceleration at the previous moment; inputting the expected steering acceleration into the corrected network model to obtain a corrected steering angle at the current moment; the target steering angle at the current moment is determined based on the initial steering angle at the current moment and the corrected steering angle at the current moment, and the vehicle is controlled to steer based on the target steering angle at the current moment, so that the robustness and the adaptability of the vehicle lateral motion control system are improved.

    本发明公开了一种车辆的侧向运动控制方法、装置、设备和存储介质。车辆的侧向运动控制方法,包括:获取车辆的理想行驶轨迹,基于理想行驶轨迹确定车辆的期望转向加速度;获取车辆的在上一时刻的实际转向加速度,基于上一时刻的实际转向加速度和期望转向加速度确定偏差加速度;基于偏差加速度和上一时刻的实际转向加速度确定当前时刻的初始转向角度;将期望转向加速度输入至修正网络模型中,得到当前时刻的修正转向角度;基于当前时刻的初始转向角度和当前时刻的修正转向角度确定当前时刻的目标转向角度,基于当前时刻的目标转向角度控制车辆进行转向,提高了车辆侧向运动控制系统的鲁棒性和自适应性。


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    Title :

    Lateral motion control method, device and equipment of vehicle and storage medium


    Additional title:

    一种车辆的侧向运动控制方法、装置、设备和存储介质


    Contributors:
    LI ZUOWEN (author) / ZHANG JIAN (author) / WANG YU (author) / LI HANG (author) / ZHANG HONG (author) / LI WEINAN (author) / ZHU KEFU (author) / MENG XIANGZHE (author) / SUN YUHANG (author) / ZHOU YUHANG (author)

    Publication date :

    2024-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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