The invention relates to the technical field of vehicle auxiliary driving, in particular to an intersection driving auxiliary driving control method and device, a vehicle and a readable storage medium. The intersection driving auxiliary driving control method comprises the steps that current motion state information of the vehicle and road state information are obtained, and the intersection driving auxiliary driving control method is obtained according to the current motion state information of the vehicle and the road state information; establishing a scene coordinate system of the position of the vehicle, and determining vehicle and lane center line coordinate parameters in the scene coordinate system; determining a transverse offset distance from the near end of the lane center line to the longitudinal axis of a vehicle coordinate system, a lane center line curve and preview point coordinate parameters according to the vehicle and lane center line coordinate parameters; according to the transverse offset distance, the lane center line curve and the preview point coordinate parameters, a feedforward tracking algorithm and a feedback algorithm are adopted to determine the total steering wheel turning angle of the vehicle, under the conditions that multiple lanes exist and steering and lane changing are possible, the safe and reliable auxiliary driving function is achieved, the experience feeling of a driver is improved, and the sustainable function is guaranteed; interference of zebra crossing and the like is avoided.

    本发明涉及车辆辅助驾驶技术领域,尤其是涉及一种路口行车辅助驾驶控制方法、装置、车辆及可读存储介质,包括获取车辆的当前运动状态信息及道路状态信息,根据车辆的当前运动状态信息及道路状态信息,建立车辆所在位置的场景坐标系,确定场景坐标系中的车辆及车道中线坐标参数;根据车辆及车道中线坐标参数,确定车道中线近端到车辆坐标系纵轴的横向偏置距离、车道中线曲线及预瞄点坐标参数;根据横向偏置距离、车道中线曲线及预瞄点坐标参数,采用前馈追踪算法及反馈算法确定车辆的总方向盘转角,在面对有多条车道及存在转向变道可能的情况下,实现安全可靠的辅助驾驶功能,提高驾驶员的体验感,保证功能可持续作用,避免斑马线等干扰。


    Access

    Download


    Export, share and cite



    Title :

    Crossing driving auxiliary driving control method and device, vehicle and readable storage medium


    Additional title:

    路口行车辅助驾驶控制方法、装置、车辆及可读存储介质


    Contributors:
    LUO HUAPING (author) / HONG JIFA (author) / WU FANGYI (author) / DENG JING (author) / LUO HAO (author) / LIU WEIDONG (author) / HUANG SHAOTANG (author)

    Publication date :

    2023-12-12


    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




    Auxiliary driving control method, vehicle and computer readable storage medium

    YANG YIQIN / SHAO JIE / ZHONG RIMIN et al. | European Patent Office | 2021

    Free access

    Auxiliary driving method, auxiliary driving device, vehicle and storage medium

    CHEN JIANXIN / HU LIANQIANG / DONG ZHIHUA et al. | European Patent Office | 2023

    Free access

    Auxiliary driving method, auxiliary driving device, vehicle and computer storage medium

    WANG CHUNSHENG / FU HU / WANG JIQUAN et al. | European Patent Office | 2022

    Free access

    Auxiliary driving system control method, auxiliary driving system, vehicle and storage medium

    WANG QIU / MENG JUNFENG / DU YANNAN et al. | European Patent Office | 2020

    Free access