The invention discloses a vehicle transverse control method and device, a vehicle and a medium. The method comprises the following steps: acquiring a pre-constructed general vehicle model; acquiring configuration parameters of a target vehicle, and inputting the configuration parameters into the general vehicle model to obtain a target vehicle model corresponding to the target vehicle; constructing a linear matrix inequality according to the target vehicle model and a preset robustness expectation index, and resolving the linear matrix inequality to obtain an LPV controller corresponding to the target vehicle; and acquiring driving parameters of the target vehicle, inputting the driving parameters into the LPV controller so as to output a front wheel turning angle of the target vehicle, and converting the front wheel turning angle into a steering wheel turning angle of the target vehicle so as to perform transverse control on the target vehicle. The target vehicle is transversely controlled through the designed LPV controller, the transverse control performance of the vehicle under different road conditions can be improved, and the stability of transverse control of the vehicle is improved.
本发明公开了一种车辆横向控制方法、装置、车辆及介质。该方法包括:获取预先构建的通用车辆模型;获取目标车辆的配置参数,将所述配置参数输入至所述通用车辆模型中得到与所述目标车辆对应的目标车辆模型;根据所述目标车辆模型和预设的鲁棒性期望指标构建线性矩阵不等式,并对所述线性矩阵不等式进行解算得到与所述目标车辆对应的LPV控制器;获取所述目标车辆的行驶参数并将所述行驶参数输入至所述LPV控制器以输出所述目标车辆的前轮转角,并将所述前轮转角转换为所述目标车辆的方向盘转角以对所述目标车辆进行横向控制。本发明通过设计的LPV控制器来对目标车辆进行横向控制,可以提升车辆在不同路况下的横向控制表现,提高车辆横向控制的稳定性。
Vehicle transverse control method and device, vehicle and medium
车辆横向控制方法、装置、车辆及介质
2024-08-30
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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