Vehicle control method and device

A vehicle control and target vehicle technology, which is applied in the field of vehicle control methods and devices, and can solve problems such as unsatisfactory effects

Active Publication Date: 2018-11-13
HUAWEI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] This application provides a vehicle control method and device to solve the technical problem that the current vehicle control method does not achieve satisfactory results when controlling the vehicle travel route

Method used

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  • Vehicle control method and device
  • Vehicle control method and device

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0075] Embodiments of the present invention provide a media content caching method and device, which are used to solve the technical problem that the control effect is not ideal when the robust PID method is used to control the vehicle trajectory.

[0076] The following introduces several concepts involved in the embodiments of this application:

[0077] The state information of the vehicle refers to the parameters of the vehicle itself and the driving parameters during the driving of the vehicle. The parameters of the vehicle itself include but are not limited to the following parameters: the mass of the vehicle, the moment of inertia of the vehicle, the wheelbase The wheelbase, the front wheel cornering stiffness of the vehicle, the rear wheel cornering stiffness of the vehicle; the driving parameters of the vehicle include but not limited to the following parameters: the position information of the vehicle, the driving speed of the vehicle, the direction of travel of the veh...

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Abstract

The invention provides a vehicle control method and device. The vehicle control method comprises the steps that the current transverse displacement deviation and the transverse angle deviation are determined according to state information of a target vehicle and pavement information of a road where the target vehicle is located; the transverse displacement deviation of the preview position is determined according to the current transverse displacement deviation, the transverse angle deviation and the preview distance; then the sliding mode control rate is determined according to the current transverse displacement deviation, the transverse angle deviation, the transverse displacement deviation of the preview position, a sliding mode switching surface equation and sliding mode control parameters; and finally, through a sliding mode control method and by taking the sliding mode control rate as input, the output steering angle is determined, the target vehicle is controlled according to the steering angle, and the steering angle is used for adjusting the target vehicle to travel along the target path. Due to the fact that the vehicle control method adopts the nonlinear sliding mode control method, the effect of adjusting the traveling trajectory of the target vehicle is more ideal.

Description

technical field [0001] The present application relates to the technical field of unmanned vehicles, in particular to a vehicle control method and device. Background technique [0002] Unmanned vehicles are intelligent vehicles that make corresponding global or local path planning based on all or part of the known and real-time acquired environmental condition information, and automatically make control decisions to make the vehicle run safely and reliably to the predetermined destination. [0003] Vehicle control technology is the core of unmanned vehicle technology. It mainly includes several parts such as vehicle speed and direction control. Through speed and direction control, the control of vehicle driving route can be realized. The existing vehicle control method calculates the control quantity through the robust PID (proportion, integration, differential, proportional, integral, differential) method. According to the control quantity, the actual traveling route of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/10
CPCB60W30/10
Inventor 李小凤赵翾宋永刚
Owner HUAWEI TECH CO LTD
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