The embodiment of the invention relates to the technical field of intelligent driving, and discloses an auxiliary transverse control method, device and equipment for real vehicle driving and a storage medium, and the method comprises the steps: obtaining a specified curve radius, and a test steering wheel rotation angle and an initial feed-forward rotation angle under a specified vehicle speed; calculating a feed-forward rotation angle according to the initial feed-forward rotation angle and the test steering wheel rotation angle; the maximum steering wheel angle constraint and the maximum steering wheel angle change rate of the MPC are obtained; establishing an MPC lateral solver according to the MPC maximum steering wheel angle constraint and the maximum steering wheel angle change rate to calculate a feedback angle; according to the feed-forward rotation angle and the feedback rotation angle, the current curve radius and the current steering wheel rotation angle under the current vehicle speed are calculated; and obtaining a steering wheel turning angle instruction of the next control period according to the current steering wheel turning angle. The method is simple in step and clear in process, the real vehicle driving auxiliary transverse control can be rapidly established and implemented, the riding comfort of passengers is considered when the transverse control is established, and the feasibility is high.
本发明实施例涉及智能驾驶技术领域,公开了用于实车驾驶辅助横向控制方法、装置、设备及存储介质,所述方法包括步骤:获取指定弯道半径、指定车速下的测试方向盘转角和初始前馈转角;根据初始前馈转角和测试方向盘转角计算得到前馈转角;获取MPC最大方向盘转角约束和最大方向盘转角变化率;根据MPC最大方向盘转角约束和最大方向盘转角变化率建立MPC横向求解器,以计算反馈转角;根据前馈转角和反馈转角计算当前弯道半径和当前车速下的当前方向盘转角;根据所述当前方向盘转角获取下一控制周期的方向盘转角指令。本发明方法步骤简单、流程清晰,可以实现快速地建立实施于实车驾驶辅助横向控制,且在构建横向控制时考虑乘员乘坐舒适性,可实施性强。
Transverse control method, device and equipment for real vehicle driving assistance and storage medium
用于实车驾驶辅助横向控制方法、装置、设备及存储介质
2025-01-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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