The invention relates to a gain parameter value range determination method and device, equipment, a medium and a product, and relates to the technical field of automatic driving. The method comprises the steps that a closed-loop characteristic equation of the vehicle controller is obtained, the closed-loop characteristic equation is used for describing the relation between the control frequency of the vehicle controller and a gain parameter combination, and the gain parameter combination comprises multiple gain parameters; obtaining a first value range of the control frequency, and determining a first intermediate value range of each gain parameter based on the first value range of the control frequency; and obtaining a second value range of the control frequency, and determining a target value range of each gain parameter in the gain parameter combination based on the second value range of the control frequency and the first intermediate value range of the gain parameters. According to the method provided by the invention, the closed-loop stability of the vehicle controller can be effectively improved.
本申请涉及一种增益参数取值范围确定方法、装置、设备、介质和产品,涉及自动驾驶技术领域。所述方法包括:获取车辆控制器的闭环特征方程,闭环特征方程用于描述车辆控制器的控制频率和增益参数组合之间的关系,增益参数组合包括多种增益参数;获取控制频率的第一取值范围,基于控制频率的第一取值范围,确定每种增益参数的第一中间取值范围;获取控制频率的第二取值范围,基于控制频率的第二取值范围和增益参数的第一中间取值范围,确定在增益参数组合中每种增益参数的目标取值范围。本申请提供的方法,能够有效提高车辆控制器的闭环稳定性。
Gain parameter value range determination method and device, equipment, medium and product
增益参数取值范围确定方法、装置、设备、介质和产品
2024-09-06
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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