The invention discloses a vehicle transverse control method and device, a medium, a driving assistance system and a vehicle, the vehicle transverse control method comprises the steps that a first steering wheel angle value and a second steering wheel angle value are obtained, the first steering wheel angle value is obtained through a first controller based on the modern control theory, and the second steering wheel angle value is obtained through a second controller based on the modern control theory; the second steering wheel angle value is obtained through a second controller based on the classical control theory; a steering wheel fusion corner value is obtained to control steering of the vehicle, and the steering wheel fusion corner value is obtained by fusing the first steering wheel corner value and the second steering wheel corner value. According to the method, the accuracy, the flexibility and the response speed of vehicle transverse control can be improved, the vehicle can be better kept in the lane center line in the driving process, transverse errors are reduced, therefore, complex scenes such as road inclination and S curves are effectively dealt with, and the safety and the stability of the vehicle in the complex driving environment are ensured.

    本发明公开了一种车辆横向控制方法、设备、介质、驾驶辅助系统和车辆,其中,车辆横向控制方法包括:获得第一方向盘转角值和第二方向盘转角值,其中,第一方向盘转角值是通过基于现代控制理论的第一控制器获得的,第二方向盘转角值是通过基于经典控制理论的第二控制器获得的;获得方向盘融合转角值以控制车辆转向,其中,方向盘融合转角值是由第一方向盘转角值和第二方向盘转角值进行融合获得的。本发明的方法可以提高车辆横向控制的精准性、灵活性和响应速度,有助于车辆在行驶过程中更好地保持在车道中心线,减小横向误差,从而有效应对如道路倾斜和S弯道等复杂场景,确保了车辆在复杂驾驶环境中的安全性和稳定性。


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    Title :

    Vehicle transverse control method and device, medium, driving assistance system and vehicle


    Additional title:

    车辆横向控制方法、设备、介质、驾驶辅助系统和车辆


    Contributors:
    REN ZHONGCHAO (author) / CUI HONGBIN (author) / ZHANG GUANGLU (author) / DU PENG (author)

    Publication date :

    2025-04-18


    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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