The invention belongs to the field of vehicle driving assistance, and particularly provides a transverse path tracking method, device and equipment based on weight coefficient self-adaption and a storage medium, and the method comprises the following steps: calculating a front wheel steering angle through a linear quadratic form adjustment algorithm in an upper controller; calculating a control variable through feedforward control to eliminate a feedback error; designing a stability compensation controller of the additional torque by using an improved sliding mode control algorithm, and calculating an additional yaw moment for compensation of the total driving torque; the current stability state is judged through the phase plane graph of the side slip angle and the yaw velocity, and the weight of the phase plane is automatically adjusted based on the judgment result of the stability state; and calculating the distribution of the additional yaw torque in real time through the self-adaptively adjusted weight coefficient. And the stability is balanced through a sliding mode control theory. The additional yaw torque is calculated in real time by adaptively adjusting the weight coefficient, and the control stability is improved.
本发明属于车辆驾驶辅助领域,具体提供一种基于权重系数自适应的横向路径跟踪方法、装置、设备及存储介质,所述方法包括如下步骤:通过上层控制器中线性二次型调节算法计算前轮转向角;通过前馈控制计算控制变量消除反馈误差;利用改进的滑模控制算法设计附加扭矩的稳定性补偿控制器,计算用于总驱动力矩的补偿的附加横摆力矩;通过质心侧偏角和横摆角速度的相平面图来判断当前的稳定性状态,并基于稳定性状态的判断结果自动调整相平面的权重;通过自适应调整后的权重系数,实时计算附加横摆扭矩的分配。通过滑模控制理论,衡定稳定性。通过自适应调整权重系数,实时计算附加横摆扭矩,提高控制稳定性。
Weight coefficient self-adaption-based transverse path tracking method, apparatus and device, and storage medium
一种基于权重系数自适应的横向路径跟踪方法、装置、设备及存储介质
2024-12-20
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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