The invention discloses an ADAS auxiliary driving steering control method. The method comprises the steps that S1, a vehicle dynamics model conforming to steering control is constructed; s2, constructing a state equation of stable turning of the vehicle; s3, solving and analyzing the constructed state equation to obtain a corner request; and S3, vehicle turning is controlled based on the turning angle request. The method has the advantages that the cost is low, no hardware cost exists, the method can be integrated in a controller of a vehicle, the system can pass a curve at different vehicle speeds, response is more timely and accurate, the turning capacity of the system is faster and smoother, and the system capacity is improved; and moreover, feedforward parameters and the requirement for a feedback controller in bending are reduced, and the calibration pressure of engineers is relieved.
本发明公开了一种ADAS辅助驾驶转向控制方法,包括S1、构建符合转向控制的车辆动力学模型;S2、构建车辆稳定过弯的状态方程;S3、对构建的状态方程进行求解分析得到转角请求;S3、基于转角请求对车辆过弯进行控制。本发明的优点在于:成本低,无硬件成本,可以将该方法集成在车辆的控制器中,使得系统能够在不同的车速过弯道,响应更加及时和准确,使得系统过弯能力更快和更平顺,提升系统能力;而且减少前馈参数和对反馈控制器在弯中的要求,减轻工程师标定压力。
ADAS auxiliary driving steering control method
一种ADAS辅助驾驶转向控制方法
2025-02-28
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 |
Tramcar auxiliary driving system based on ADAS technology and control method
European Patent Office | 2020
|ADAS ADAS MODE CONTROL DEVICE USING DRIVING ROUTE OF VEHICLE
European Patent Office | 2021
|ADAS ADAS MODE CONTROL DEVICE USING DRIVING ROUTE OF VEHICLE
European Patent Office | 2021
Omnidirectional ADAS+360-degree panoramic fusion auxiliary driving system and method
European Patent Office | 2022