Transverse and longitudinal cooperative control method for distributed angle module chassis configuration

The invention relates to a transverse and longitudinal cooperative control method for a distributed angle module chassis configuration. The method comprises the steps of determining a current control mode of a target vehicle when it is detected that the target vehicle deviates from a planned path trajectory, and then obtaining steering control information and differential control information of the target vehicle based on the current control mode of the target vehicle, and finally, driving of the target vehicle is cooperatively controlled according to the steering control information and the differential control information. By adopting the method, the path tracking performance of the vehicle in the automatic driving process can be improved. 本申请涉及一种分布式角模块底盘构型的横纵向协同控制方法。该方法包括：在检测到目标车辆偏离规划路径轨迹的情况下，确定目标车辆的当前控制模式，然后基于目标车辆的当前控制模式，获取目标车辆的转向控制信息和差动控制信息，最后根据转向控制信息和差动控制信息协同控制目标车辆的行驶。采用本方法能够提升车辆在自动驾驶过程中的路径跟踪性能。