The invention provides a vehicle data processing method, device and equipment and a computer readable storage medium. The method comprises the steps that the yaw velocity and the side slip angle in the vehicle running process are determined, and a phase plane graph is constructed based on the yaw velocity and the side slip angle; performing dynamic stability analysis on the vehicle based on the phase plane graph to obtain a first area in the phase plane graph; performing vehicle state constraint prediction based on the first region to obtain transverse stability constraint information; determining a cost function of a model prediction controller of the vehicle, and performing control quantity prediction based on the transverse stability constraint information and the cost function to obtain a first control quantity; and determining a feedback compensation control quantity of the vehicle, summing the first control quantity and the feedback compensation control quantity to obtain a second control quantity, and controlling the vehicle to perform trajectory tracking by using the second control quantity and the reference trajectory. According to the invention, the safety and stability of the vehicle in the driving process can be ensured, and the trajectory tracking precision of the vehicle is improved.
本申请提供了一种车辆数据处理方法、装置、设备及计算机可读存储介质;方法包括:确定车辆行驶过程中的横摆角速度和质心侧偏角,基于横摆角速度、质心侧偏角构建相平面图;基于相平面图对车辆进行动态稳定性分析,得到相平面图中的第一区域;基于第一区域进行车辆状态约束预测,得到横向稳定性约束信息;确定车辆的模型预测控制器的代价函数,并基于横向稳定性约束信息和代价函数进行控制量预测,得到第一控制量;确定车辆的反馈补偿控制量,并对第一控制量和反馈补偿控制量进行求和,得到第二控制量,利用第二控制量和参考轨迹控制车辆进行轨迹跟踪。通过本申请,能够保证车辆在行驶过程中的安全性和稳定性,以及提高车辆的轨迹跟踪精度。
Vehicle data processing method, device and equipment and computer readable storage medium
车辆数据处理方法、装置、设备及计算机可读存储介质
2025-05-23
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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