CN113428218A - Vehicle steering control method, device, equipment and storage medium - Google Patents
Vehicle steering control method, device, equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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Abstract
The invention discloses a vehicle steering control method, a device, equipment and a storage medium, wherein the method comprises the following steps: acquiring motion trail information of a vehicle; determining yaw rates according to the motion track information, wherein the yaw rates comprise a yaw rate corresponding to feed-forward control and a yaw rate corresponding to feedback control; determining a target yaw rate according to the yaw rate corresponding to the feedforward control and the yaw rate corresponding to the feedback control; determining the steering wheel angle according to the target yaw angular speed; and carrying out steering control on the vehicle according to the steering wheel angle. The invention makes up the error of the transverse running of the vehicle by reasonably controlling the steering wheel angle, and improves the accuracy and the safety of the steering control of the vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle steering control method, device, equipment and storage medium.
Background
The vehicle steering control is part of advanced automatic driving, and the aim of the vehicle steering control is to accurately follow the track from an upper-layer planner, specifically to ensure that the heading angle and the lateral deviation of the vehicle are both 0, and simultaneously meet the requirement of comfort.
The current common vehicle steering control method mainly comprises PID control, but the influence of a vehicle model is not considered in the complete PID control, so that the parameters in practical application are more, the adjustment is complex, and the PID control object often determines the control effect. The pure tracking method based on the vehicle kinematics does not consider the dynamic parameters of the vehicle body on one hand, does not consider the angle deviation of the vehicle body on the other hand, and is not timely in tracking under the environment of a changed lane line. The method comprehensively considers the course angle and the transverse deviation, but the LQR optimal controller designs related assumptions, so that the curvature is easy to overshoot when changing rapidly; in theory, MPC control is a nonlinear optimal method which comprehensively considers vehicle dynamics models and time-varying environmental factors, but because of large calculation amount, a true numerical solution cannot be obtained, and the like, the MPC control is less in engineering application at present.
Therefore, a method for controlling vehicle steering is urgently needed, which solves the problem that the vehicle steering control in the prior art has more parameters, and the vehicle steering control in the prior art does not consider the influence of dynamic parameters of a vehicle body and angle deviation of the vehicle body on the vehicle steering control, so that a larger error exists in the vehicle steering control.
Disclosure of Invention
In order to solve the problems in the prior art, embodiments of the present invention provide a method, an apparatus, a device and a storage medium for controlling vehicle steering, where the technical solution is as follows:
in one aspect, a vehicle steering control method is provided, the method comprising:
acquiring motion trail information of a vehicle;
determining yaw rates according to the motion track information, wherein the yaw rates comprise a yaw rate corresponding to feed-forward control and a yaw rate corresponding to feedback control;
determining a target yaw rate according to the yaw rate corresponding to the feedforward control and the yaw rate corresponding to the feedback control;
determining the steering wheel angle according to the target yaw angular speed;
and carrying out steering control on the vehicle according to the steering wheel angle.
In another aspect, there is provided a vehicle steering control apparatus, the apparatus including:
an information acquisition module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for acquiring motion track information of a vehicle;
a yaw angle determination module: the system comprises a motion track information acquisition unit, a feedback control unit and a control unit, wherein the motion track information acquisition unit is used for acquiring motion track information of a user, and the motion track information acquisition unit is used for acquiring motion track information of the user;
a target yaw rate determination module: the target yaw rate is determined according to the yaw rate corresponding to the feedforward control and the yaw rate corresponding to the feedback control;
steering wheel angle determination module: for determining a steering wheel angle from the target yaw rate;
a vehicle steering control module: and the steering control device is used for steering control of the vehicle according to the steering wheel angle.
Further, the yaw rate corresponding to the feedforward control comprises a first yaw rate; the motion trail information at least comprises longitudinal vehicle speed and curvature;
the yaw angle determination module includes:
a first yaw-rate determination module: for determining the first yaw rate by dot-multiplying the longitudinal vehicle speed with the curvature.
Further, the yaw rate corresponding to the feedforward control also comprises a second yaw rate; the motion trail information also comprises transverse distance deviation;
the yaw angle determination module further includes:
a curvature coefficient determination module: the curvature coefficient is obtained by inputting the curvature into a first interpolation function;
the longitudinal vehicle speed coefficient determining module: the longitudinal speed coefficient is obtained by inputting the longitudinal speed to a second interpolation function;
a pre-aiming distance determination module: the system is used for determining a pre-aiming distance according to the curvature coefficient, the longitudinal speed and a preset pre-aiming time, wherein the pre-aiming distance is the longitudinal distance from the vehicle to a preset pre-aiming point;
euclidean distance determination module: the Euclidean distance from the vehicle to a preset aiming point is determined according to the deviation between the pre-aiming distance and the transverse distance;
a second yaw-rate determination module: for determining the second yaw rate from the euclidean distance and the longitudinal vehicle speed.
Further, the yaw rate corresponding to the feedback control includes a third yaw rate;
the yaw angle determination module further includes:
a lateral acceleration determination module: the controller is used for inputting the transverse distance error to the three controllers to obtain transverse acceleration;
a third yaw-rate determination module: for determining the third yaw rate from the lateral acceleration and the longitudinal vehicle speed.
Further, the yaw rate corresponding to the feedback control further comprises a fourth yaw rate; the motion track information further comprises an orientation angle error;
the yaw angle determination module further includes:
course deviation determination module: the heading deviation is determined according to the orientation angle error, the curvature and the Euclidean distance;
a fourth yaw-rate determination module: and the controller is used for inputting the heading deviation into the three-item controller and determining the fourth yaw rate.
Further, the target yaw-rate determination module includes:
and accumulating the first yaw rate, the second yaw rate, the third yaw rate and the fourth yaw rate to obtain the target yaw rate.
Further, the steering wheel angle determination module includes:
a steering transmission ratio acquisition module: for obtaining a steering gear ratio of the vehicle;
a yaw parameter value determination module: the system is used for inputting the target yaw angular velocity and the longitudinal vehicle speed into a driving two-degree-of-freedom model to obtain a yaw parameter value;
a first steering wheel angle determination module: for determining the steering wheel angle from the steering gear ratio and the yaw parameter value.
Another aspect provides an apparatus comprising a processor and a memory having stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by the processor to implement a vehicle steering control method as described above.
Another aspect provides a storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by a processor to implement a vehicle steering control method as described above.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention adjusts the yaw velocity required by the vehicle for steering control according to the acquired motion trail information, so that the vehicle can reasonably control the longitudinal speed, the curvature, the transverse distance deviation and the orientation angle error in the motion trail information, the error of the vehicle steering control is reduced, then, the target yaw velocity is obtained according to the yaw velocity corresponding to the feedforward control and the yaw velocity corresponding to the feedback control in the yaw velocity, the target yaw velocity is input into a driving two-degree-of-freedom model, the steering wheel angle is determined by combining the steering transmission ratio, and the steering control of the vehicle is realized according to the steering wheel angle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a vehicle steering control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an application environment of a vehicle steering control according to an embodiment of the present invention;
fig. 3 is a block diagram of a vehicle steering control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
It is noted that the present specification provides the method steps as described in the examples or flowcharts, but may include more or less steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures.
Example (b):
please refer to fig. 1, which is a schematic flow chart of a vehicle steering control method according to an embodiment of the present invention, the method specifically includes the following steps:
s101: acquiring motion trail information of a vehicle;
in the embodiment of the invention, the acquired motion trail information at least comprises longitudinal vehicle speed, curvature, transverse distance deviation and orientation angle error, and various control parameters of vehicle steering control are determined according to the acquired motion trail information, so that the vehicle can accurately perform vehicle steering control according to an actual motion route.
S102: determining yaw rates according to the motion track information, wherein the yaw rates comprise a yaw rate corresponding to feed-forward control and a yaw rate corresponding to feedback control;
in the embodiment of the invention, a preview point is arbitrarily selected, the preview point is a target point to which a vehicle steers according to steering control, the vehicle determines a yaw rate of the vehicle steering control according to track information of the vehicle moving to the preview point, wherein the yaw rate comprises a yaw rate corresponding to feed-forward control and a yaw rate corresponding to feedback control, the yaw rate corresponding to the feed-forward control is directly calculated according to the acquired motion track information to obtain a yaw rate expected by the feed-forward control required by the vehicle steering control, and the yaw rate corresponding to the feedback control is optimized according to the three controllers to obtain data, so that the yaw rate expected by the feedback control required by the vehicle steering control is determined.
In an alternative embodiment, the yaw rate corresponding to the feedforward control includes a first yaw rate, and for the first yaw rate desired to be controlled, the first yaw rate is obtained by performing a point multiplication on the longitudinal vehicle speed and a curvature of the vehicle heading to the predicted point, and the solving formula of the first yaw rate is as follows:
DisredYaw1＝vx·curvature
wherein, the DisredYaw1 is a first yaw rate, vxFor longitudinal vehicle speed, curve is the curvature.
In an optional embodiment, the yaw rate corresponding to the feedforward control further includes a second yaw rate, the acquired curvature is input to the first interpolation function to obtain a curvature coefficient, and the longitudinal vehicle speed is input to the second interpolation function to obtain a longitudinal vehicle speed coefficient. Determining a pre-aiming distance according to the curvature coefficient, the longitudinal speed and a preset pre-aiming time, wherein the pre-aiming distance is the longitudinal distance from the vehicle to a pre-aiming point, and the specific pre-aiming distance can be expressed as:
PredlictedDistance＝CurvatureCoef*VelocityCoef*BasePredictionTime*vx
wherein PredictedDistance is the preview distance, CurvatureCoef is the curvature coefficient, velocityCoef is the longitudinal speed coefficient, BasePredictionTime is the preview time, vxFor the longitudinal vehicle speed, the curvature coefficient is currvaturecoef ═ interpolar (current), and the longitudinal vehicle speed coefficient is velocitycyet ═ interpolar (velocity), where interpolar is an interpolation function.
Accordingly, as shown in fig. 2, which is a schematic view of an application environment of a vehicle steering control according to an embodiment of the present invention, a lateral distance error and a pre-aiming distance can be clearly seen in the diagram, point a is a pre-aiming point, and a euclidean distance from the vehicle to the pre-aiming point is determined according to the lateral distance error and the pre-aiming distance, and the specific euclidean distance can be expressed as:
EuclideanDistance＝sqrt(PredicteDistance，lateralDistance)
wherein Euclidean distance is Euclidean distance, LaerationDistance is transverse distance error, and PredicteDistance is Prediction distance.
And determining a second yaw rate according to the calculated Euclidean distance and the longitudinal vehicle speed, wherein the specific second yaw rate can be expressed as:
DisredYaw2＝vx/EuclideanDistance
wherein, the DisredYaw2 is a second yaw rate, the Euclidean distance is an Euclidean distance, vxFor the longitudinal vehicle speed, the default longitudinal vehicle speed remains unchanged during the solving of the second yaw rate.
In an alternative embodiment, the lateral acceleration corresponding to the steering control of the vehicle is obtained by adjusting and controlling the lateral distance error through three controllers, and a third yaw rate is determined according to the lateral acceleration and the longitudinal vehicle speed, and the solution of the third yaw rate is shown as the following formula:
ay＝PID(lateralDistance)
DisiredYaw3＝ay/vx
wherein DisiredYaw3 is the third yaw rate, ayFor lateral acceleration, the lateral distance is the lateral distance error, vxIs the longitudinal vehicle speed.
Specifically, the fourth yaw rate corresponding to the feedback control is determined based on the acquired heading angle error, curvature and euclidean distance, and the value of the heading deviation is input into the three controllers for control adjustment, so as to obtain a fourth yaw rate required by the vehicle for steering control, wherein the concrete solution of the fourth yaw rate is as follows:
DisredYaw4＝PID(Errorheading)
wherein, the DisredYaw4 is a fourth yaw velocity, the heading is an orientation angle Error, the Euclidean distance is a Euclidean distance, the curvature is a curvature, and the Error isheadingIs the heading deviation.
Through the above description of the first yaw rate, the second yaw rate, the third yaw rate and the fourth yaw rate, it can be seen that the vehicle steering control fully performs reasonable control on some error values existing in the vehicle, so that the vehicle can perform steering control with high accuracy, and the requirement of automatic driving is met.
S103: determining a target yaw rate according to the yaw rate corresponding to the feedforward control and the yaw rate corresponding to the feedback control;
in the embodiment of the present invention, the first yaw rate, the second yaw rate, the third yaw rate, and the fourth yaw rate obtained by the above calculation are summed up to obtain the target yaw rate required for the final steering control of the vehicle, and the vehicle can further control the steering wheel angle according to the target yaw rate, and the target yaw rate may be determined by:
desiredDisredYaw＝k1.DisredYaw1+k2.DisredYaw2+DisredYaw3+DisredYaw4
where k1 and k2 are the coefficients of the first yaw rate and the second yaw rate, respectively, which are determined from the curvature and the lateral distance error, specifically:
k＝parameter*sign(curvature)*lateralDistance
the parameter is an adjustable parameter, which can be determined according to the actual situation, the lateralistance is the transverse distance error, and the curvature is the curvature.
S104: determining the steering wheel angle according to the target yaw angular speed;
s105: and carrying out steering control on the vehicle according to the steering wheel angle.
In the embodiment of the invention, a yaw parameter value is obtained by inputting a target yaw velocity and a longitudinal vehicle speed into a known two-degree-of-freedom driving model, and a steering wheel angle required by the vehicle for steering control is determined by combining the obtained steering transmission ratio, wherein the specific steering wheel angle can be expressed as:
SteeringAngle＝steeringRatio*BicycleModel(vx，desiredYawRate)
wherein SteeringAngle is the steering wheel angle, SteeringRatio is the steering transmission ratio, BicycleModel is a two-degree-of-freedom model of driving, vxThe desired yaw rate is the longitudinal speed, and the desired yaw rate is the target yaw rate, so that the vehicle can be subjected to high-precision steering control through the determined steering wheel angle, the error of the transverse running of the vehicle is made up, and the automatic driving requirement is met.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention adjusts the yaw velocity required by the vehicle for steering control according to the acquired motion trail information, so that the vehicle can reasonably control the longitudinal speed, the curvature, the transverse distance deviation and the orientation angle error in the motion trail information, the error of the vehicle steering control is reduced, then, the target yaw velocity is obtained according to the yaw velocity corresponding to the feedforward control and the yaw velocity corresponding to the feedback control in the yaw velocity, the target yaw velocity is input into a driving two-degree-of-freedom model, the steering wheel angle is determined by combining the steering transmission ratio, and the steering control of the vehicle is realized according to the steering wheel angle.
An embodiment of the present invention further provides a vehicle steering control device, where the device is shown in fig. 3, and is a structural block diagram of the vehicle steering control device provided in the embodiment of the present invention, and the device includes:
the information acquisition module 10: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for acquiring motion track information of a vehicle;
yaw angle determination module 20: the system comprises a motion track information acquisition unit, a feedback control unit and a control unit, wherein the motion track information acquisition unit is used for acquiring motion track information of a user, and the motion track information acquisition unit is used for acquiring motion track information of the user;
target yaw-rate determination module 30: the target yaw rate is determined according to the yaw rate corresponding to the feedforward control and the yaw rate corresponding to the feedback control;
steering wheel angle determination module 40: for determining a steering wheel angle from the target yaw rate;
the vehicle steering control module 50: and the steering control device is used for steering control of the vehicle according to the steering wheel angle.
Further, the yaw rate corresponding to the feedforward control comprises a first yaw rate; the motion trail information at least comprises longitudinal vehicle speed and curvature;
the yaw angle determination module 20 includes:
a first yaw-rate determination module: for determining the first yaw rate by dot-multiplying the longitudinal vehicle speed with the curvature.
Further, the yaw rate corresponding to the feedforward control also comprises a second yaw rate; the motion trail information also comprises transverse distance deviation;
the yaw angle determination module 20 further includes:
a curvature coefficient determination module: the curvature coefficient is obtained by inputting the curvature into a first interpolation function;
the longitudinal vehicle speed coefficient determining module: the longitudinal speed coefficient is obtained by inputting the longitudinal speed to a second interpolation function;
a pre-aiming distance determination module: the system is used for determining a pre-aiming distance according to the curvature coefficient, the longitudinal speed and a preset pre-aiming time, wherein the pre-aiming distance is the longitudinal distance from the vehicle to a preset pre-aiming point;
euclidean distance determination module: the Euclidean distance from the vehicle to a preset aiming point is determined according to the deviation between the pre-aiming distance and the transverse distance;
a second yaw-rate determination module: for determining the second yaw rate from the euclidean distance and the longitudinal vehicle speed.
Further, the yaw rate corresponding to the feedback control includes a third yaw rate;
the yaw angle determination module 20 further includes:
a lateral acceleration determination module: the controller is used for inputting the transverse distance error to the three controllers to obtain transverse acceleration;
a third yaw-rate determination module: for determining the third yaw rate from the lateral acceleration and the longitudinal vehicle speed.
Further, the yaw rate corresponding to the feedback control further comprises a fourth yaw rate; the motion track information further comprises an orientation angle error;
the yaw angle determination module 20 further includes:
course deviation determination module: the heading deviation is determined according to the orientation angle error, the curvature and the Euclidean distance;
a fourth yaw-rate determination module: and the controller is used for inputting the heading deviation into the three-item controller and determining the fourth yaw rate.
Further, the target yaw-rate determination module 30 includes:
and accumulating the first yaw rate, the second yaw rate, the third yaw rate and the fourth yaw rate to obtain the target yaw rate.
Further, the steering wheel angle determination module 40 includes:
a steering transmission ratio acquisition module: for obtaining a steering gear ratio of the vehicle;
a yaw parameter value determination module: the system is used for inputting the target yaw angular velocity and the longitudinal vehicle speed into a driving two-degree-of-freedom model to obtain a yaw parameter value;
a first steering wheel angle determination module: for determining the steering wheel angle from the steering gear ratio and the yaw parameter value.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Embodiments of the present invention provide an apparatus, which includes a processor and a memory, where at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the vehicle steering control method provided by the above method embodiments.
Embodiments of the present invention also provide a storage medium that can be disposed in a device to store at least one instruction, at least one program, a set of codes, or a set of instructions related to implementing a vehicle steering control method in the method embodiments, where the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the vehicle steering control method provided in the method embodiments.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A vehicle steering control method, characterized by comprising:
acquiring motion trail information of a vehicle;
determining yaw rates according to the motion track information, wherein the yaw rates comprise a yaw rate corresponding to feed-forward control and a yaw rate corresponding to feedback control;
determining a target yaw rate according to the yaw rate corresponding to the feedforward control and the yaw rate corresponding to the feedback control;
determining the steering wheel angle according to the target yaw angular speed;
and carrying out steering control on the vehicle according to the steering wheel angle.
2. A vehicle steering control method according to claim 1, wherein the yaw rate corresponding to the feed-forward control includes a first yaw rate; the motion trail information at least comprises longitudinal vehicle speed and curvature;
the determining the yaw rate according to the motion track information includes:
and performing dot product on the longitudinal vehicle speed and the curvature to determine the first yaw rate.
3. A vehicle steering control method according to claim 2, wherein the yaw rate corresponding to the feed-forward control further includes a second yaw rate; the motion trail information also comprises transverse distance deviation;
the determining a yaw rate according to the motion trail information further comprises:
inputting the curvature into a first interpolation function to obtain a curvature coefficient;
inputting the longitudinal vehicle speed to a second interpolation function to obtain a longitudinal vehicle speed coefficient;
determining a pre-aiming distance according to the curvature coefficient, the longitudinal speed and a preset pre-aiming time, wherein the pre-aiming distance is the longitudinal distance from the vehicle to a preset pre-aiming point;
determining the Euclidean distance from the vehicle to a preset aiming point according to the deviation between the pre-aiming distance and the transverse distance;
and determining the second yaw rate according to the Euclidean distance and the longitudinal vehicle speed.
4. A vehicle steering control method according to claim 3, wherein the feedback-controlled corresponding yaw rate includes a third yaw rate;
the determining a yaw rate according to the motion trail information further comprises:
inputting the transverse distance error into three controllers to obtain transverse acceleration;
determining the third yaw rate from the lateral acceleration and the longitudinal vehicle speed.
5. A vehicle steering control method according to claim 4, wherein the yaw rate corresponding to the feedback control further includes a fourth yaw rate; the motion track information further comprises an orientation angle error;
the determining a yaw rate according to the motion trail information further comprises:
determining course deviation according to the orientation angle error, the curvature and the Euclidean distance;
and inputting the course deviation into the three-item controller, and determining the fourth yaw rate.
6. The vehicle steering control method according to claim 5, wherein the determining a target yaw rate from the yaw rate corresponding to the feed-forward control and the yaw rate corresponding to the feedback control includes:
and accumulating the first yaw rate, the second yaw rate, the third yaw rate and the fourth yaw rate to obtain the target yaw rate.
7. A vehicle steering control method according to claim 6, wherein said determining a steering wheel angle based on said target yaw rate includes:
acquiring a steering transmission ratio of the vehicle;
inputting the target yaw angular speed and the longitudinal vehicle speed into a two-degree-of-freedom model of the vehicle to obtain a yaw parameter value;
and determining the steering wheel angle according to the steering transmission ratio and the yaw parameter value.
8. A vehicle steering control apparatus, characterized by comprising:
an information acquisition module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for acquiring motion track information of a vehicle;
a yaw angle determination module: the system comprises a motion track information acquisition unit, a feedback control unit and a control unit, wherein the motion track information acquisition unit is used for acquiring motion track information of a user, and the motion track information acquisition unit is used for acquiring motion track information of the user;
a target yaw rate determination module: the target yaw rate is determined according to the yaw rate corresponding to the feedforward control and the yaw rate corresponding to the feedback control;
steering wheel angle determination module: for determining a steering wheel angle from the target yaw rate;
a vehicle steering control module: and the steering control device is used for steering control of the vehicle according to the steering wheel angle.
9. An apparatus comprising a processor and a memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by the processor to implement the vehicle steering control method according to any one of claims 1 to 7.
10. A storage medium having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement a vehicle steering control method according to any one of claims 1 to 7.
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| WO2023241343A1 (en) * | 2022-06-16 | 2023-12-21 | 中国第一汽车股份有限公司 | Vehicle control method, vehicle, storage medium, and electronic apparatus |
| CN118004275A (en) * | 2024-04-08 | 2024-05-10 | 无锡车联天下信息技术有限公司 | Transverse control method and structure for vehicles moving straight at intersection |
| CN118210316A (en) * | 2024-05-21 | 2024-06-18 | 武汉未来幻影科技有限公司 | Continuous track transverse control method and related equipment thereof |
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| CN118004275B (en) * | 2024-04-08 | 2024-06-14 | 无锡车联天下信息技术有限公司 | Transverse control method and structure for vehicles moving straight at intersection |
| CN118210316A (en) * | 2024-05-21 | 2024-06-18 | 武汉未来幻影科技有限公司 | Continuous track transverse control method and related equipment thereof |
| CN118210316B (en) * | 2024-05-21 | 2024-07-23 | 武汉未来幻影科技有限公司 | Continuous track transverse control method and related equipment thereof |
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