The invention relates to the technical field of automatic driving, in particular to a transverse control method and device for an automatic driving vehicle and the vehicle, and the method comprises the following steps: obtaining the rotation angle control quantity of a steering wheel of the automatic driving vehicle; when it is detected that the steering angle control quantity is smaller than or equal to a preset offset threshold value, correcting the steering angle control quantity according to the steering angle gain scale factor; and controlling a steering system of the autonomous vehicle to execute a transverse control action according to the corrected steering angle control quantity. Therefore, the problems that in the related technology, a steering gear of an automatic driving vehicle has a steering gap, the situation of large transverse deviation is likely to be caused, the transverse control precision is low, and the safety and reliability of the vehicle and the automatic driving experience are poor are solved.
本申请涉及自动驾驶技术领域,特别涉及一种自动驾驶车辆的横向控制方法、装置及车辆,其中,方法包括以下步骤:获取自动驾驶车辆的方向盘的转角控制量;在检测到转角控制量小于或等于预设偏移阈值时,根据转向角增益比例因子修正转角控制量;根据修正后的转角控制量控制自动驾驶车辆的转向系统执行横向控制动作。由此,解决了相关技术中自动驾驶车辆的转向器存在转向间隙,容易导致横向偏差较大的情况,横向控制的精度低,车辆的安全可靠性以及自动驾驶体验较差等问题。
Transverse control method and device for automatic driving vehicle and vehicle
自动驾驶车辆的横向控制方法、装置及车辆
2022-02-08
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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