The invention discloses a vehicle longitudinal and transverse control method, which comprises the following steps of: receiving a decision planning track of a controlled vehicle and an actual vehicle state of the controlled vehicle; according to the decision planning trajectory, the vehicle state and the current vehicle dynamic error, a plurality of reference trajectory points are selected on the trajectory fitting line, the actual reference trajectory in the prediction period is obtained, and the vehicle dynamic error is the deviation between the actual reference trajectory of the vehicle at the current moment and the prediction trajectory information and at least comprises the vehicle transverse error; performing rolling optimization on a nonlinear vehicle prediction model according to the actual reference trajectory and a preset cost function to obtain an optimal control quantity sequence in a prediction time domain; and controlling the controlled vehicle according to the optimal control quantity sequence. The invention further discloses a corresponding system, a storage medium and a vehicle. By implementing the method, the smoothness and stability of longitudinal and transverse control of the vehicle can be improved.
本发明公开了一种车辆纵横向控制方法,包括步骤:接收被控车辆的决策规划轨迹,以及被控车辆的实际车辆状态;根据决策规划轨迹、车辆状态以及当前车辆动态误差,在轨迹拟合线上选取多个参考轨迹点,获得本预测周期内的实际参考轨迹,所述车辆动态误差为车辆当前时刻的实际参考轨迹与预测轨迹信息的偏差,其至少包括车辆横向误差;根据所述实际参考轨迹、预设的代价函数对非线性车辆预测模型进行滚动优化,获得预测时域内最优控制量序列;根据所述最优控制量序列控制所述被控车辆。本发明还公开了相应的系统、存储介质及车辆。实施本发明,可以提高车辆纵横向控制的平滑性和稳定性。
Vehicle longitudinal and transverse control method and system, storage medium and vehicle
一种车辆纵横向控制方法、系统、存储介质及车辆
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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