The invention provides a vehicle transverse control method and device, a storage medium and electronic equipment, and relates to the field of smart mines, automatic driving and unmanned vehicles. The vehicle transverse control method comprises the steps of obtaining a target dynamic model constructed based on a side slip angle and transverse dynamic characteristics of a vehicle steering wheel; calculating an actual turning angle value of a steering wheel of the target vehicle by utilizing the target kinetic model; and adjusting the current turning angle value of the steering wheel of the target vehicle based on the actual turning angle value of the steering wheel of the target vehicle so as to realize transverse control of the target vehicle. According to the invention, the difficulty of a vehicle transverse control algorithm in engineering application is reduced. Meanwhile, the scheme does not depend on a complex vehicle model and various real-time state information, the requirement for the precision of the vehicle model is lowered, the complexity of a vehicle transverse control algorithm is simplified, and the vehicle transverse control algorithm is easier to implement.
本申请提供了一种车辆横向控制方法及装置、存储介质及电子设备,涉及智慧矿山、自动驾驶、无人车领域。该车辆横向控制方法包括:获取基于车辆转向轮的侧偏角和横向动力学特性构建的目标动力学模型;利用目标动力学模型,计算目标车辆转向轮的实际转角值;基于目标车辆转向轮的实际转角值,调整目标车辆转向轮的当前转角值,以实现对目标车辆的横向控制。本申请降低了车辆横向控制算法在工程应用上的难度。同时,该方案不依赖于复杂的车辆模型和多种实时的状态信息,降低了对车辆模型精度的要求,简化了车辆横向控制算法的复杂性,使其更加容易实现。
Vehicle transverse control method and device, storage medium and electronic equipment
车辆横向控制方法及装置、存储介质及电子设备
2025-01-07
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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