The present disclosure relates to a method for real-time lateral interference detection for vehicles, including the pre-calibration of the desired yaw rate induced by steering torque applied by Electric Power Steering (EPS) at different vehicle speeds. The method at least includes the following steps: obtaining the steering torque TEPS applied by the EPS at time t and the vehicle speed v at time t; calculating the estimated yaw rate WEPS at time t based on the steering torque TEPS and vehicle speed v at time t, as well as the relationship between the desired yaw rate and the vehicle speed and the steering torque applied by the EPS; detecting and obtaining the actual yaw rate Ws at time t+Δt using a yaw rate sensor; comparing WEPS with Ws, and determining that the lateral interference experienced by the vehicle has reached a preset level requiring the driver to take over vehicle control if the absolute value of the difference between WEPS and Ws is greater than the threshold Wth.Alternatively, the method comprises the following steps: obtaining the actual steering torque TEPS applied by the EPS at time t;obtaining the vehicle speed v at time t+Δt and the actual yaw rate Ws at time t+Δt, where Δt represents a preset time delay for the yaw rate to be generated after the EPS applies the torque;calculating the estimated steering torque TEXP applied by the EPS at time t based on the vehicle speed v at time t+Δt, the actual yaw rate Ws at time t+Δt, and the relationship between the desired yaw rate and the vehicle speed and the steering torque applied by the EPS; andcomparing the estimated steering torque TEXP with the actual steering torque TEPS, and if the absolute value of the difference between the estimated steering torque TEXP and the actual steering torque TEPS is greater than a threshold Tth, determining that the lateral interference experienced by the vehicle has reached a preset level requiring the driver to take over vehicle control.The present disclosure also relates to an apparatus for real-time lateral interference detection for vehicles, and a computer-readable storage medium containing a computer program for implementing the method for real-time lateral interference detection.


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    Title :

    METHOD AND APPARATUS FOR REAL-TIME LATERAL INTERFERENCE DETECTION FOR VEHICLESS, COMPUTER-READABLE STORAGE MEDIUM


    Additional title:

    VERFAHREN UND VORRICHTUNG ZUR SEITLICHEN ECHTZEIT-INTERFERENZERKENNUNG FÜR FAHRZEUGE, COMPUTERLESBARES SPEICHERMEDIUM
    PROCÉDÉ ET APPAREIL DE DÉTECTION D'INTERFÉRENCE LATÉRALE EN TEMPS RÉEL POUR VÉHICULES, SUPPORT DE STOCKAGE INFORMATIQUE


    Contributors:
    GE PENG (author)

    Publication date :

    2025-04-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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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