The invention provides a vehicle transverse control method and device, electronic equipment and a readable storage medium. The method comprises the steps that running state parameters of a vehicle at the first moment and multiple preset steering wheel angle increments of the vehicle at the second moment are obtained; inputting the running state parameters and each preset steering wheel angle increment into a vehicle kinematic model to obtain a prediction track corresponding to each preset steering wheel angle increment; inputting the running state parameters and each preset steering wheel angle increment into an expected trajectory calculation model to obtain an expected trajectory corresponding to each preset steering wheel angle increment; obtaining a deviation degree value between the predicted trajectory and the expected trajectory corresponding to each preset steering wheel angle increment; and obtaining a target steering wheel angle increment corresponding to the minimum deviation degree value, and performing transverse control on the vehicle according to the target steering wheel angle increment. According to the invention, the control efficiency and the control precision of vehicle transverse control are improved.
本发明提供了一种车辆横向控制方法、装置、电子设备及可读存储介质,获取车辆在第一时刻的运行状态参数,以及车辆在第二时刻的多个预设方向盘转角增量;将运行状态参数和每个预设方向盘转角增量输入车辆运动学模型,得到分别与每个预设方向盘转角增量对应的预测轨迹;将运行状态参数和每个预设方向盘转角增量输入期望轨迹计算模型,得到分别与每个预设方向盘转角增量对应的期望轨迹;获取与每个预设方向盘转角增量对应的预测轨迹和期望轨迹之间的偏离程度值;获取与最小偏离程度值对应的目标方向盘转角增量,以根据目标方向盘转角增量,对所述车辆进行横向控制。本发明提高了车辆横向控制的控制效率和控制精度。
Vehicle transverse control method and device, electronic equipment and readable storage medium
车辆横向控制方法、装置、电子设备及可读存储介质
2025-03-28
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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