The invention provides a vehicle transverse and longitudinal coupling control method and device, equipment and a storage medium, and the method comprises the steps: determining a preview point on a lane line according to the lane line information of a road where a vehicle is located at present, and determining the lane line according to the transverse distance between the vehicle at present and the preview point, the current course error of the vehicle, the steering angle of the vehicle, and the current longitudinal speed of the vehicle; the steering angular velocity of the vehicle is calculated according to the LQR control algorithm, and the expected steering angle of a vehicle steering wheel is calculated according to the steering angular velocity and correspondingly adjusted; the expected longitudinal speed of the vehicle is determined according to the lane line information, the difference between the current longitudinal speed of the vehicle and the expected longitudinal speed serves as the input of a proportional-integral control algorithm, the output of the proportional-integral control algorithm serves as the expected longitudinal acceleration of the vehicle, and the expected torque of an engine is calculated and correspondingly adjusted according to the expected longitudinal acceleration of the vehicle. By applying the LQR algorithm and the PI control algorithm, the calculation complexity is low under the condition of high transverse and longitudinal control precision.

    本申请提供一种车辆横纵向耦合控制方法、装置、设备及存储介质,包括:根据车辆当前所处道路的车道线信息,确定车道线上的预瞄点,根据车辆当前与预瞄点之间的横向距离、车辆当前的航向误差、车辆的转向角,以及车辆当前的纵向车速,根据LQR控制算法计算车辆的转向角速度,根据转向角速度计算车辆方向盘期望转向角度并进行相应调节;根据车道线信息确定车辆的期望纵向速度,将车辆当前的纵向车速与期望纵向速度的差作为比例积分控制算法的输入,比例积分算法的输出为车辆的期望纵向加速度,根据车辆的期望纵向加速度,计算发动机期望扭矩并进行相应调节。通过应用LQR算法和PI控制算法,在具有较高横纵向控制精度的情况下计算复杂度较低。


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    Title :

    Vehicle transverse and longitudinal coupling control method, device and equipment and storage medium


    Additional title:

    车辆横纵向耦合控制方法、装置、设备及存储介质


    Contributors:
    LI FUXIANG (author) / TIAN LEI (author) / ZHAO YUCHAO (author) / QIN TAO (author)

    Publication date :

    2025-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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