The invention discloses a vehicle transverse control method, an electronic system, a readable storage medium and a computer program product. The control precision of vehicle transverse control can be improved. The vehicle transverse control method comprises the steps that a kinematic model of a vehicle is established, the kinematic model comprises state variables and control variables, the state variables comprise the transverse distance, the yaw angle and the actual front wheel rotation angle, and the control variables comprise the front wheel rotation angle; forming a prediction equation set based on the kinematic model, wherein the prediction equation set comprises a state quantity measurement value at the current moment, state quantity prediction of a prediction time domain and control quantity prediction of a control time domain; establishing a target function based on the prediction equation set, and introducing a constraint condition; and at least outputting an instruction value of the front wheel steering angle according to the objective function and the constraint condition.
一种车辆横向控制方法、电子系统、可读存储介质以及计算机程序产品,能够提高车辆横向控制的控制精度。车辆横向控制方法包括:建立车辆的运动学模型,所述运动学模型包括状态量和控制量,所述状态量包括横向距离、横摆角以及前轮实际转角,所述控制量包括前轮转角;基于所述运动学模型形成预测方程组,所述预测方程组包括当前时刻的状态量测量值、一个预测时域的状态量预测以及一个控制时域的控制量预测;基于所述预测方程组建立目标函数,并引入约束条件;以及根据所述目标函数以及所述约束条件至少输出所述前轮转角的指令值。
Vehicle lateral control method, electronic system, medium and program product
车辆横向控制方法、电子系统、介质以及程序产品
2024-12-10
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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