The invention relates to the field of automatic driving, in particular to a vehicle transverse control method and device and a vehicle. The vehicle transverse control method comprises the steps that 1, the vehicle speed, the curvature radius, the transverse error and the steering wheel turning angle of a vehicle are obtained; 2, determining a target compensation steering angle based on the vehicle speed, the curvature radius and the transverse error; 3, determining a target steering wheel rotation angle according to the target compensation steering angle and the steering wheel rotation angle; and 4, according to the target steering wheel rotation angle, transverse control is conducted on the vehicle. According to the method, the problems of linear oscillation and insufficient sharp turn steering of vehicle transverse control in the prior art are solved, part of logic in the algorithm is changed, parameters are dynamically calibrated according to the speed, the curvature and the transverse error, and the steering angle of the transverse control algorithm is correspondingly compensated.
本申请涉及自动驾驶领域,具体为一种车辆横向控制方法、装置及车辆。该车辆横向控制方法包括:步骤1:获取车辆的车速、曲率半径、横向误差和方向盘转角;步骤2:基于所述车速、所述曲率半径和所述横向误差,确定目标补偿转向角度;步骤3:根据所述目标补偿转向角度和所述方向盘转角,确定目标方向盘转角;步骤4:根据所述目标方向盘转角,对所述车辆进行横向控制。本申请解决现有技术中车辆横向控制的直线震荡问题、急弯转向不足问题,进行了算法中部分逻辑的改变,根据速度、曲率、横向误差动态标定参数,给横向控制算法的转向角度进行了相应的补偿。
Vehicle transverse control method and device and vehicle
一种车辆横向控制方法、装置及车辆
2024-01-26
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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