The invention provides an unmanned vehicle curve control method, device and equipment and a readable storage medium. The unmanned vehicle curve control method comprises the steps that a vehicle prediction control model is acquired; according to the response speed of the steering system, the range of the front wheel steering angle and the centripetal acceleration of the vehicle, constraint conditions of the front wheel steering angle and the vehicle speed are established; establishing a target function according to the state quantity and the control quantity; converting the target function into a standard quadratic function, and solving the solution of the standard quadratic function under the constraint condition by adopting a quadratic programming method to obtain an optimal control quantity; and controlling the vehicle to run at the optimal front wheel steering angle and the optimal vehicle speed for passing through the curve. According to the method, when the vehicle passes through the curve, the constraint conditions of the front wheel turning angle and the vehicle speed are established according to the response speed of the steering system, the range of the front wheel turning angle and the centripetal acceleration of the vehicle, the vehicle is controlled based on the model prediction control method, and the safety of the vehicle passing through the curve is improved.
本发明提供一种无人驾驶车辆弯道控制方法、装置、设备及可读存储介质,无人驾驶车辆弯道控制方法包括:获取车辆预测控制模型;根据转向系统的响应速度、前轮转角的范围和车辆的向心加速度,建立前轮转角和车辆车速的约束条件;根据状态量和控制量,建立目标函数;将目标函数转化为标准二次型函数,采用二次规划法求解标准二次型函数在约束条件下的解,得到最优控制量;控制车辆以最优前轮转角和最优车辆车速行驶,以供通过弯道。通过本发明,在车辆通过弯道时,根据转向系统的响应速度、前轮转角的范围和车辆的向心加速度,建立前轮转角和车辆车速的约束条件,基于模型预测控制方法对车辆进行控制,提升了车辆通过弯道时的安全性。
Unmanned vehicle curve control method, device and equipment and readable storage medium
无人驾驶车辆弯道控制方法、装置、设备及可读存储介质
2023-11-21
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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