The invention relates to the technical field of intelligent transportation, and provides a transverse control safety monitoring method and system for an autonomous vehicle. The method comprises the following steps of: establishing rollover stability evaluation indexes of a vehicle, wherein the indexes comprise a transverse load transfer rate; determining factors influencing the transverse load transfer rate, wherein the factors include lateral acceleration, and taking the lateral acceleration as a stability control target corresponding to the transverse load transfer rate; establishing a corresponding relationship among the lateral acceleration, the longitudinal vehicle speed and the steering wheel angle according to a vehicle kinematic model and vehicle parameters; obtaining the maximum steering wheel rotating angle corresponding to the given maximum lateral acceleration at different vehicle speeds to serve as a rotating angle threshold value according to the corresponding relationship; and monitoring the steering wheel angle in real time, limiting the steering wheel angle to a steering angle threshold value when the steering wheel angle is greater than the steering angle threshold value, otherwise, normally outputting the steering wheel angle. Compared with a traditional scheme of directly giving an extreme value limit value, the method is more suitable for different workingconditions and continuously changing vehicle states.

    本发明涉及智能交通技术领域,提供一种自动驾驶车辆的横向控制安全监测方法及系统。所述方法包括:建立车辆的侧翻稳定性评价指标,包括横向载荷转移率;确定影响横向载荷转移率的因子,包括侧向加速度,以及将侧向加速度作为横向载荷转移率对应的稳定性控制目标;根据车辆运动学模型及车辆参数,建立侧向加速度与纵向车速及方向盘转角之间的对应关系;根据所述对应关系,获取不同车速下给定的最大侧向加速度对应的最大方向盘转角作为转角阈值;以及实时监测方向盘转角,在其大于转角阈值时,将方向盘转角限制在转角阈值,否则正常输出方向盘转角。本发明相比于传统的直接给出极值限制值的方案,更加适应不同的工况和不断变化的车辆状态。


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    Title :

    Transverse control safety monitoring method and system for autonomous vehicle


    Additional title:

    自动驾驶车辆的横向控制安全监测方法及系统


    Contributors:
    WANG TIANPEI (author) / ZHANG KAI (author) / HE LIN (author) / ZHEN LONGBAO (author) / GE JIANYONG (author) / LU NING (author) / ZHANG JIAN (author) / CAO ZENG (author) / ZHANG LU (author) / GAO SHASHA (author)

    Publication date :

    2020-09-25


    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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