The invention relates to a vehicle transverse control method and system, a storage medium and electronic equipment, and the method comprises the steps: obtaining a current position point and a current course angle of a vehicle in real time in a vehicle driving process; obtaining two track points closest to the current position point in a planned track, and determining a reference position point on the planned track according to the current position point and the two track points; calculating a position difference value between the current position point and the reference position point; acquiring a reference course angle when the vehicle runs to the reference position point, and calculating an angle difference value between the current course angle and the reference course angle; determining a steering wheel turning angle control mode according to the type of the reference position point, determining a steering wheel turning angle value according to the position difference value, the angle difference value and the steering wheel turning angle control mode, and controlling the vehicle based on the steering wheel turning angle value; according to the invention, the driving comfort and stability of the vehicle during automatic driving can be improved.

    本申请涉及一种车辆横向控制方法与系统、存储介质、电子设备,包括:在车辆行驶过程中,实时获取车辆的当前位置点和当前航向角;获取规划轨迹中距离所述当前位置点最近的两个轨迹点,并根据所述当前位置点和所述两个轨迹点在所述规划轨迹上确定参考位置点;计算所述当前位置点与所述参考位置点的位置差值;获取车辆行驶至所述参考位置点时的参考航向角,并计算所述当前航向角和所述参考航向角的角度差值;根据所述参考位置点的类型确定方向盘转角控制方式,根据所述位置差值、角度差值以及方向盘转角控制方式确定方向盘转角值,并基于所述方向盘转角值对车辆进行控制;通过本申请,能够提高自动驾驶时车辆行驶的舒适性和平稳性。


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    Titel :

    Vehicle transverse control method and system, storage medium and electronic equipment


    Weitere Titelangaben:

    一种车辆横向控制方法与系统、存储介质、电子设备


    Beteiligte:
    LI XUAN (Autor:in) / CHOU WEN-LI (Autor:in) / ZHONG GUOQI (Autor:in)

    Erscheinungsdatum :

    24.09.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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