The invention discloses a transverse impact buffering method during switching of driving modes of an intelligent automobile. The transverse impact buffering method comprises the following steps that the position relation between the automobile and other automobiles is obtained; judging the deviation degree between the vehicle and the center line of the current lane; according to the position relation between the vehicle and the other vehicle and the deviation degree between the vehicle and the current lane center line, the minimum distance between the vehicle and the other vehicle when the vehicle is switched to the lane center line position is determined; and determining a steering wheel steering angle range and a steering wheel steering angular velocity range of a lane keeping control strategy and a transverse acceleration absolute value range of a lane return control strategy when the vehicle is switched to the lane center line position according to the obtained minimum distance. The transverse acceleration impact generated when the manual driving mode of the intelligent driving automobile is switched to the automatic driving mode can be reduced, and discomfort generated in the driving mode switching process of a driver is eliminated.
本发明公开了一种智能汽车驾驶模式切换时的横向冲击缓冲方法,包括以下步骤:获取本车和他车的位置关系;判断本车与当前车道中心线的偏离度;根据本车和他车的位置关系、以及本车与当前车道中心线的偏离度确定本车切换到车道中心线位置时与他车的最小距离;根据得到的最小距离确定本车切换到车道中心线位置时车道保持控制策略的方向盘转向角度范围、方向盘转向角速度范围、以及车道回正控制策略的横向加速度绝对值范围。本发明能够降低智能驾驶汽车的手动驾驶模式切换自动驾驶模式时产生的横向加速度冲击,消除驾驶员切换驾驶模式过程中产生的不适感。
Transverse impact buffering method during switching of driving modes of intelligent automobile
一种智能汽车驾驶模式切换时的横向冲击缓冲方法
15.08.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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