The invention provides a vehicle transverse self-adaptive control method, a control device and a vehicle. The vehicle transverse self-adaptive control method comprises the steps: determining a previewpoint according to the current vehicle speed of a vehicle and preset preview time; determining a pure tracking control quantity according to the position information of the current point and the preview point of the vehicle; determining a preview point deviation feedback control quantity according to the state deviation of the preview point; determining a current position compensation control quantity according to the state deviation of the current point; and determining the steering wheel angle according to the pure tracking control quantity, the preview point deviation feedback control quantity and the current position compensation control quantity. The invention provides the vehicle transverse self-adaptive control method. According to the method, the preview distance is automaticallyadjusted according to the vehicle state, the problems of too early turning response and out-of-curve lag response are avoided, pure tracking control quantity and current point position error compensation quantity are also considered on the basis of state deviation feedback control quantity at the preview position, and the robustness of the algorithm is improved, so that the expected driving trackis tracked with high reliability and high precision.
本发明提出了一种车辆横向自适应控制方法、控制装置和车辆。其中,一种车辆横向自适应控制方法,包括:根据车辆的当前车速及预设预瞄时间确定预瞄点;根据车辆的当前点和预瞄点的位置信息确定纯跟踪控制量;根据预瞄点的状态偏差确定预瞄点偏差反馈控制量;根据当前点的状态偏差确定当前位置补偿控制量;根据纯跟踪控制量、预瞄点偏差反馈控制量、当前位置补偿控制量确定方向盘转角。本发明提供的车辆横向自适应控制方法,根据车辆状态自动调整预瞄距离,避免进弯过早响应和出弯道滞后响应问题,在预瞄处状态偏差反馈控制量的基础上,还考虑了纯跟踪控制量、当前点位置误差补偿量,提高了算法的鲁棒性,以达到高可靠、高精度地跟踪期望行驶轨迹。
Vehicle transverse self-adaptive control method, control device and vehicle
车辆横向自适应控制方法、控制装置和车辆
02.10.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Vehicle transverse control method and device and vehicle
Europäisches Patentamt | 2024
|Transverse control method and device of vehicle and vehicle
Europäisches Patentamt | 2021
|Transverse control method and device for vehicle and vehicle
Europäisches Patentamt | 2021
|Europäisches Patentamt | 2023
|Vehicle transverse driving control method and device and vehicle
Europäisches Patentamt | 2025
|