The invention discloses a vehicle U-turn path determination method and device and a storage medium, and the method comprises the steps: generating a U-turn reference line of a vehicle through map information; detecting that the vehicle currently enters a turn-round scene; a path tracking deviation state equation of the U-turn reference line is constructed so that the vehicle can track and control the U-turn reference line, and the path tracking deviation state equation represents the relation among any U-turn moment, the front wheel turning angle of the vehicle, the preview distance and the steering deviation in the U-turn process; the steering deviation at the turning-around moment is an included angle between the direction of a target point at the turning-around moment and the course angle of the vehicle at the turning-around moment, and the target point at the turning-around moment is a point on a turning-around reference line at a preview distance in front of the vehicle at the turning-around moment. In this way, accurate tracking control over the U-turn reference line can be achieved.
本申请公开了一种车辆掉头路径确定方法、设备和存储介质,该方法包括:利用地图信息,生成车辆的掉头参考线;检测到车辆当前进入掉头场景;构建掉头参考线的路径跟踪偏差状态方程,以用于车辆对掉头参考线进行跟踪控制,其中,路径跟踪偏差状态方程表征在掉头过程中的任意掉头时刻,车辆的前轮转角、预瞄距离与转向偏差之间的关系,掉头时刻的转向偏差为掉头时刻的目标点所在方向与车辆在掉头时刻的航向角之间的夹角,掉头时刻的目标点为在掉头时刻位于车辆前方的预瞄距离处的掉头参考线上的点。通过上述方式,本申请能够实现对掉头参考线的精确跟踪控制。
Vehicle U-turn path determination method and device and storage medium
车辆掉头路径确定方法、设备和存储介质
2025-04-11
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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