The invention relates to a transverse control method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps that at least one piece of information of positioning information, planning information, a transverse error, a transverse rate, a side slip angle error and a side slip angle rate of the vehicle is obtained; establishing an error dynamic model meeting a preset uncertainty condition according to the at least one piece of information, and obtaining a state transition matrix, a control transition matrix and an uncertainty transition matrix of the vehicle according to the error dynamic model; and calculating a preset equation based on the state transition matrix, the control transition matrix and the uncertainty transition matrix, and calculating a controller gain of the vehicle according to the preset equation so as to control lateral movement of the vehicle by using the controller gain. Therefore, the problem of poor performance under some extreme working conditions due to certain response lag, low control precision and poor control stability during transverse control of the vehicle in the related technology is solved.
本申请涉及一种车辆的横向控制方法、装置、车辆及存储介质,其中,方法包括:获取车辆的定位信息、规划信息、横向误差、横向速率、侧偏角误差和侧偏角速率中的至少一项信息;根据至少一项信息建立满足预设不确定性条件的误差动力学模型,并根据误差动力学模型获取车辆的状态转移矩阵、控制转移矩阵和不确定性转移矩阵;基于状态转移矩阵、控制转移矩阵和不确定性转移矩阵计算预设方程,并根据预设方程计算车辆的控制器增益,以利用控制器增益控制车辆的横向运动。由此,解决了相关技术中,车辆在横向控制时,存在一定的响应滞后,控制精度较低,控制稳定性较差,导致在某些极端工况下性能欠佳的问题。
Transverse control method and device of vehicle, vehicle and storage medium
车辆的横向控制方法、装置、车辆及存储介质
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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