The embodiment of the invention provides a vehicle transverse control method and device, equipment and a medium, and relates to the technical field of automatic driving. The vehicle transverse control method comprises the steps that model prediction control is conducted according to the positioning position and the planning track of a vehicle, and an expected steering instruction is obtained; performing an open-loop test according to the driving information of the vehicle and the expected steering instruction, and determining a feedforward parameter configuration table; debugging an off-line simulation model of a steering system of the vehicle according to the feedforward parameter configuration table, and determining feedback parameters; adjusting a feedforward parameter configuration table according to the feedback parameters to obtain a target parameter configuration table, and generating a steering torque instruction according to the target parameter configuration table; and the steering torque instruction is sent to the steering system, so that the steering system performs transverse control according to the steering torque instruction. According to the embodiment of the invention, the technical effect of transverse control of the vehicle only provided with the torque interface can be realized.
本发明实施例提供一种车辆横向控制方法、装置、设备及介质,涉及自动驾驶技术领域。所述车辆横向控制方法包括:根据车辆的定位位置和规划轨迹进行模型预测控制,得到期望转向指令;根据车辆的行驶信息和期望转向指令进行开环测试,确定前馈参数配置表;根据前馈参数配置表调试车辆的转向系统的离线仿真模型,确定反馈参数;根据反馈参数调整前馈参数配置表,得到目标参数配置表,并根据目标参数配置表生成转向力矩指令;向转向系统发送转向力矩指令,使转向系统根据转向力矩指令进行横向控制。本发明实施例能够实现使只有扭矩接口的车辆进行横向控制的技术效果。
Vehicle transverse control method, device, equipment and medium
一种车辆横向控制方法、装置、设备及介质
2025-05-02
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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