Vehicle control method, device and equipment based on steering hysteresis and storage medium

Abstract

The invention discloses a vehicle control method, device and equipment based on steering hysteresis and a storage medium. The method comprises steps of the transverse motion state quantity of a target vehicle at the current moment and the longitudinal motion state quantity of the target vehicle at the current moment being obtained; based on the transverse motion state quantity and a preset transverse kinematics model, determining a front wheel turning angle of the target vehicle at the next moment; wherein the preset transverse kinematic model comprises a steering hysteresis response time constant; based on the longitudinal motion state quantity and a preset longitudinal kinematics model, the acceleration of the target vehicle at the next moment being determined; and adjusting the running state of the target vehicle at the next moment according to the front wheel steering angle and the acceleration. The method is advantaged in that comprehensive smooth control can be conducted on the target vehicle through the decoupled transverse and longitudinal models, the steering hysteresis response time constant is introduced, timely control over the target vehicle is guaranteed, and stability and robustness of vehicle operation are improved.

Description

technical field [0001] The embodiments of the present application relate to the field of information processing, and in particular to a vehicle control method, device, device and storage medium based on steering hysteresis. Background technique [0002] At present, the algorithm applied on the unmanned vehicle is a perfect mathematical differential equation model, which does not consider the mechanical structure response problem on the real vehicle. If the mechanical structure response hysteresis on the vehicle is too large, the control of the vehicle controller will diverge and cannot To achieve the expected vehicle operating state. Contents of the invention [0003] The embodiment of the present application provides a vehicle control method, device, device, and storage medium based on steering hysteresis, which can comprehensively and smoothly control the target vehicle through the decoupled horizontal and vertical models, and introduce a steering hysteresis response tim...

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Problems solved by technology

[0002] At present, the algorithm applied on the unmanned vehicle is a perfect mathematical differential equation model, which does not consider the mechanical structure response problem on the rea

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