The invention discloses a vehicle path tracking transverse control method, apparatus and device, and a storage medium. The method comprises the steps of obtaining current motion information and a target expected path of a target vehicle; determining a current preview distance of the target vehicle based on the current motion information and a target mapping relation between the motion deviation and preview time; determining a target steering wheel angle of the target vehicle based on the current motion information, the target expected path and the current preview distance; and generating a target control signal based on the target steering wheel angle, and performing lateral control on the target vehicle based on the target control signal, so that the target vehicle travels along the target expected path. Through the technical scheme of the embodiment of the invention, automatic transverse control of vehicle path tracking is realized, a complex vehicle driving environment can be adapted, the precision and stability of transverse control of vehicle path tracking are improved, and the safety of intelligent driving of the vehicle is ensured.
本发明公开了一种车辆路径追踪横向控制方法、装置、设备及存储介质,该方法包括:获取目标车辆的当前运动信息和目标期望路径;基于当前运动信息以及运动偏差与预瞄时间之间的目标映射关系,确定目标车辆的当前预瞄距离;基于当前运动信息、目标期望路径和当前预瞄距离,确定目标车辆的目标方向盘转角;基于目标方向盘转角,生成目标控制信号,并基于目标控制信号对目标车辆进行横向控制,以使目标车辆沿目标期望路径行驶。通过本发明实施例的技术方案,以实现自动对车辆路径追踪的横向控制,可以适应复杂的车辆行驶环境,提高车辆路径追踪横向控制的精度和稳定性,保证车辆智能行驶的安全性。
Vehicle path tracking transverse control method, device and equipment and storage medium
一种车辆路径追踪横向控制方法、装置、设备及存储介质
2025-01-03
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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