The embodiment of the invention provides a vehicle transverse control method and device, a vehicle and a readable storage medium. The method comprises the steps: obtaining vehicle working condition information, recognized by a vehicle bus system, of the vehicle when the vehicle is parked; determining an initial transverse control parameter according to the vehicle working condition information, and determining a correction deviation parameter corresponding to the initial transverse control parameter; determining a target transverse control parameter according to the initial transverse controlparameter and the correction deviation parameter; and enabling a steering wheel to output the front wheel turning angle of the vehicle according to the target transverse control parameter. According to the embodiment of the invention, the correction deviation parameter for correcting the initial transverse control parameter is added on the basis of determining the initial transverse control parameter, and the output of the steering wheel is controlled according to the initial transverse control parameter and the correction deviation parameter so that a vehicle control effect of quickly and stably tracking in a parking scene and high tracking pose precision when a parking point is reached is realized; and the comfort and safety of a parking process are improved.

    本发明实施例提供了一种车辆横向控制方法、装置、车辆和可读存储介质,所述方法包括:当车辆泊车时,获取车辆总线系统识别的所述车辆的车辆工况信息;根据所述车辆工况信息确定初始横向控制参数,并确定与所述初始横向控制参数对应的修正偏差参数;根据所述初始横向控制参数和所述修正偏差参数确定目标横向控制参数;根据所述目标横向控制参数控制方向盘输出所述车辆的前轮转角。根据本发明实施例,在确定初始横向控制参数的基础上增加对其进行修正的修正偏差参数,根据初始横向控制参数和修正偏差参数控制方向盘的输出,实现在泊车场景下快速、稳定的跟踪和到达泊车点时跟踪位姿精度高的车辆控制效果,提升了泊车过程的舒适性和安全性。


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    Titel :

    Vehicle transverse control method and device, vehicle and readable storage medium


    Weitere Titelangaben:

    一种车辆横向控制方法、装置、车辆和可读存储介质


    Beteiligte:
    CHEN JIHUI (Autor:in) / SU JINGREN (Autor:in) / CHEN SHENGJUN (Autor:in) / ZHANG CHAOYU (Autor:in)

    Erscheinungsdatum :

    12.02.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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