The invention provides a long curve driving control method of a lane centering auxiliary function of an automatic driving system. The method comprises the following steps: S1, acquiring the lane curvature of a vehicle driving lane, determining whether the vehicle drives in a long curve or not according to the lane curvature, if so, executing S2, and if not, ignoring the operation; S2, judging whether a condition I is established or not, if so, executing S3, and if not, ignoring the action and setting the condition I to indicate that the steering force of the vehicle is insufficient; S3, according to the lane curvature, calculating a vehicle transverse deviation value caused by the lane curvature according to a formula I in which the vehicle transverse deviation value is equal to a result of K*lane curvature*square of the preview distance/2; and S4, compensating the torque value calculated by the lane centering auxiliary function according to the vehicle transverse deviation value. According to the invention, the safety and comfort of automatic driving are improved.
本发明提供一种自动驾驶系统车道居中辅助功能长弯道行驶的控制方法,包括:步骤S1,获取车辆所行驶车道的车道曲率,根据所述车道曲率判断车辆是否在长弯道行驶,如果是,则执行步骤S2,如果否,则忽略;步骤S2,判断条件一是否成立,如果是,则执行步骤S3,如果否,则忽略,所述条件一为车辆转向力不足;步骤S3,根据所述车道曲率按公式一计算因为车道曲率引起的车辆横向偏移值,公式一:车辆横向偏移值=K*车道曲率*预瞄距离的平方/2;步骤S4,根据所述车辆横向偏移值对所述车道居中辅助功能计算出的扭矩值进行补偿。本发明提高了自动驾驶的安全性和舒适性。
Long curve driving control method of lane centering auxiliary function of automatic driving system
自动驾驶系统车道居中辅助功能长弯道行驶的控制方法
2020-09-18
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 |
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