The embodiment of the invention provides a transverse control method and device for a vehicle and the vehicle, and the method comprises the steps: determining the road type of a road on which the vehicle travels, determining the point taking length at the front end of the vehicle according to the road type, obtaining each discrete point in the point taking length according to a preset point taking interval, determining a plurality of discrete points of a vehicle, determining driving parameters of the vehicle when the vehicle runs at each discrete point, allocating a weight value to each driving parameter based on a preset allocation strategy, and executing transverse control of the vehicle according to each driving parameter and each weight value, the allocation strategy comprising: according to a relative distance between each discrete point and the current position of the vehicle, and/or according to the speed of the vehicle at each discrete point, allocating the weight value for each driving parameter, so that the transverse control of the vehicle is smooth and rapid, the control performance is improved, the resource consumption is reduced, and the accuracy and reliability of the transverse control of the vehicle are improved.

    本公开实施例提供一种车辆的横向控制方法、装置及车辆,包括:确定车辆所行驶的道路的道路类型,并根据道路类型在车辆前端确定取点长度,其中,道路类型为直路类型或者弯路类型,根据预设的取点间隔获取取点长度中的各离散点,并确定车辆行驶于每一离散点时,车辆的行驶参数,基于预设的分配策略为每一行驶参数分配权重值,并根据各行驶参数、以及各权重值执行对车辆的横向控制,其中,分配策略包括:根据各离散点与车辆的当前位置之间的相对距离,和/或,根据车辆在各离散点时的速度,为每一行驶参数分配权重值,使得对车辆的横向控制平滑且迅速,提高了控制性能,降低了资源消耗,提高了对车辆的横向控制的准确性和可靠性的技术效果。


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    Title :

    Transverse control method and device for vehicle and vehicle


    Additional title:

    车辆的横向控制方法、装置及车辆


    Contributors:
    YUAN GUANG (author)

    Publication date :

    2021-09-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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