Vehicle control method, device and equipment

Abstract

The invention provides a vehicle control method, a device and equipment. The method comprises the steps: obtaining a reference track of a target vehicle, the feature information of the target vehicleat a current track point, and a kinetic model; according to the reference trajectory, the feature information and the kinetic model, determining a first control quantity of a target trajectory point using a model prediction controller, wherein the target trajectory point is the next trajectory point of the current trajectory point; determining a second control quantity of the target track point byusing a feedforward algorithm according to the feature information; according to the reference trajectory and the kinetic model, determining a third control quantity of the target trajectory point byusing a model reference adaptive control algorithm; and determining the target control quantity of the target track point according to the first control quantity, the second control quantity and thethird control quantity. In the embodiment of the invention, the robustness of vehicle control is effectively improved by adopting a mode of an MMC + FF + MRAC algorithm, so that the vehicle can stillquickly and stably track the reference trajectory under a special working condition.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a vehicle control method, device and equipment. Background technique [0002] In the automatic driving of the vehicle, while ensuring the stability of the vehicle's driving performance under normal working conditions such as lane keeping, it is also necessary to ensure the safety of the vehicle driving under special working conditions such as emergency obstacle avoidance. Under special working conditions such as emergency obstacle avoidance, the vehicle usually needs to perform operations such as sudden braking or sharp turning, which can easily cause the vehicle to roll over and flick. Furthermore, since the structure of the tractor and the trailer is not a unified whole, if the steering wheel angle and steering angular velocity are not properly controlled, there will be the phenomenon of the truck hanging in the straight lane and scratching in the corner...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a vehicle control method, device and equipment to solve the problem in the prior art that the vehicle cannot be controlled stably and accurately when the rear suspension and load of the vehicle change greatly or there is interference

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