The present disclosure relates to a method for real-time lateral disturbance detection of a vehicle, comprising anticipated calibration of a desired yaw rate caused by a steering torque applied by an electric power steering (EPS) at different vehicle speeds, the method comprising at least the steps of: acquiring a steering torque TEPS applied by the EPS at a time t and a vehicle speed v at the time t; calculating an estimated yaw rate WEPS at the moment t according to the steering torque TEPS and the vehicle speed v at the moment t and the relationship between the expected yaw rate and the steering torque applied by the vehicle speed and the EPS; the actual yaw rate Ws at the t + delta t moment is detected and obtained through a yaw rate sensor; and comparing the WEPS with the Ws, and if the absolute value of the difference between the WEPS and the Ws is greater than a threshold value Wth, judging that the transverse interference suffered by the vehicle reaches a preset degree that a driver needs to take over vehicle control. The invention also relates to an apparatus for real-time lateral disturbance detection of a vehicle, a vehicle comprising such an apparatus, a computer readable storage medium comprising a computer program implementing a real-time lateral disturbance detection method.
本公开涉及用于车辆的实时横向干扰检测的方法,包括预期校准在不同车速下由电动助力转向(EPS)施加的转向扭矩引起的期望横摆率,方法至少包括如下步骤:获取EPS在t时刻施加的转向扭矩TEPS和t时刻的车速v;根据t时刻的转向扭矩TEPS和车速v以及期望横摆率与车速和EPS施加的转向扭矩之间的关系计算t时刻的估算横摆率WEPS;通过横摆率传感器检测获取t+Δt时刻的实际横摆率Ws;将WEPS与Ws比较,如果WEPS与Ws的差的绝对值大于阈值Wth,则判定所述车辆受到的横向干扰达到预设的需要使驾驶员接管车辆控制的程度。本发明还涉及用于车辆的实时横向干扰检测的设备、包括该设备的车辆、包含实现实时横向干扰检测方法的计算机程序的计算机可读存储介质。
Method and apparatus for real-time lateral disturbance detection of vehicle
用于车辆的实时横向干扰检测的方法和设备
11.04.2025
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 / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen |
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