The invention relates to a transverse control method and device for a vehicle, the vehicle, electronic equipment and a medium, and the method comprises the steps: determining a first offset and a second offset according to the vehicle speed, pose and reference trajectory of the vehicle during driving; adjusting the first offset based on the vehicle speed to obtain a first adjusted offset; and/or, the second offset is adjusted based on the transverse position deviation corresponding to the second offset, and a second adjustment offset is obtained; according to the first offset and the second adjustment offset, or according to the first adjustment offset and the second offset, or according to the first adjustment offset and the second adjustment offset, the transverse control quantity of the vehicle is determined; and performing transverse control on the vehicle according to the transverse control quantity. According to the scheme, the transverse control quantity in the control process can be better matched with the vehicle speed and/or the transverse position deviation in the vehicle running process, and then the vehicle running stability in the control process is improved.
本申请涉及一种车辆的横向控制方法、装置、车辆、电子设备及介质,该方法包括:依据车辆在行驶中的车速、位姿及参考轨迹,确定第一偏移量及第二偏移量;基于车速对第一偏移量进行调整,得到第一调整偏移量;和/或,基于第二偏移量对应的横向位置偏差对第二偏移量进行调整,得到第二调整偏移量;依据第一偏移量和第二调整偏移量,或者依据第一调整偏移量和第二偏移量,或者依据第一调整偏移量和第二调整偏移量,确定车辆的横向控制量;依据横向控制量对车辆进行横向控制。本申请提供的方案,能够使控制过程中的横向控制量与车辆行驶中车速和/或横向位置偏差更加匹配,进而提高了控制过程中车辆的行驶稳定性。
Transverse control method and device of vehicle, vehicle, electronic equipment and medium
车辆的横向控制方法、装置、车辆、电子设备及介质
2024-09-03
Patent
Electronic Resource
Chinese
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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