The invention discloses a vehicle transverse control method and device, equipment and a medium, and relates to the technical field of vehicle transverse control, and the method comprises the steps: when a lane line and a front vehicle track are invalid, determining a target angle based on a target steering wheel angle value of a preset duration; the lane line invalidation includes that the lane line does not exist or the quality of the lane line is lower than a preset threshold value, and the preceding vehicle track invalidation includes that the transverse distance or the longitudinal distance between a preceding vehicle track point and the center of the own vehicle track is not within a preset range; and calculating a control torque according to the target angle and the current steering wheel angle value, and realizing transverse control of the vehicle through the control torque. Visibly, when the lane line and the front vehicle track are invalid, the control torque is calculated based on the target angle and the current steering wheel angle value to achieve transverse control over the vehicle, and the situation that transverse function quit abnormal prompt exists due to the fact that the transverse control function cannot be activated is avoided; the problem that the vehicle deviates from the intersection and even collides with other vehicles is solved.

    本申请公开了一种车辆横向控制方法、装置、设备及介质,涉及车辆横向控制技术领域,包括:当车道线和前车轨迹均无效时,则基于预设时长的目标方向盘转角值确定目标角度;车道线无效包括车道线不存在或车道线质量低于预设阈值,前车轨迹无效包括前车轨迹点与自车轨迹中心的横向距离或纵向距离不在预设范围内;根据目标角度和当前方向盘转角值计算控制力矩,并通过控制力矩实现对车辆的横向控制。可见,本申请在车道线和前车轨迹均无效时,基于目标角度和当前方向盘转角值计算控制力矩以实现对车辆的横向控制,避免了由于无法激活横向控制功能从而导致存在横向功能退出异常提示,解决了车辆在路口内偏出甚至与其他车辆碰撞的问题。


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    Title :

    Vehicle transverse control method, device, equipment and medium


    Additional title:

    一种车辆横向控制方法、装置、设备及介质


    Contributors:
    ZHANG DI (author) / LU YUKUN (author)

    Publication date :

    2023-09-01


    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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