The invention relates to a vehicle transverse control method and device, a storage medium and electronic equipment. The method comprises the steps that a track point is selected from a planned track according to the current minimum turning radius to serve as a preview point; according to the current minimum turning radius, a first front wheel turning angle needed by the vehicle to move from the current vehicle position to the preview point is determined; according to the current vehicle course angle and the vehicle course angle of the preview point, determining a second front wheel turning angle required by the vehicle to move from the current vehicle position to the preview point; according to the first front wheel rotation angle, the second front wheel rotation angle, the front wheel rotation angle control amount output last time, the current vehicle front wheel rotation angle and the rotation angle correction coefficient, the current front wheel rotation angle control amount is determined, and whether the current front wheel rotation angle control amount is legal or not is judged; if yes, outputting the current front wheel steering angle control quantity; and if not, adjusting the rotation angle correction coefficient until the legal current front wheel rotation angle control quantity is obtained, and outputting the legal current front wheel rotation angle control quantity. According to the invention, control precision and computing power overhead can be considered in vehicle transverse control.
本申请涉及一种车辆横向控制方法及其装置、存储介质、电子设备,包括:根据当前最小转弯半径从规划轨迹中选择一个轨迹点作为预瞄点;根据当前最小转弯半径确定车辆从当前车辆位置移动到预瞄点所需要的第一前轮转角;根据当前车辆航向角、预瞄点的车辆航向角确定车辆从当前车辆位置移动到预瞄点所需要的第二前轮转角;根据第一前轮转角、第二前轮转角、上一次输出的前轮转角控制量、当前车辆前轮转角、转角修正系数确定当前前轮转角控制量,并判断当前前轮转角控制量是否合法;若是,则输出当前前轮转角控制量;若否,则调整转角修正系数直至获得合法的当前前轮转角控制量,并输出。通过本申请,能够在车辆横向控制中兼顾控制精度和算力开销。
Vehicle transverse control method and device, storage medium and electronic equipment
一种车辆横向控制方法及其装置、存储介质、电子设备
2024-12-31
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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