The invention provides a control method, a control device and a computer readable storage medium. The control method is applied to the control device, and the control method comprises the steps: obtaining working condition parameters of a vehicle, wherein the working condition parameters comprise the actual yaw velocity, the transverse acceleration, the current vehicle speed and the current steering wheel angle; according to the working condition parameters, calculating the transverse acceleration offset and the target yaw velocity; calculating target yaw velocity offset according to the transverse acceleration offset; correcting the target yaw velocity according to the target yaw velocity offset; and executing corresponding control operation on the vehicle according to the relationship between the actual yaw velocity and the correction value of the target yaw velocity. According to the method, the target yaw velocity is corrected, and the corresponding control operation is executed onthe vehicle according to the relationship between the actual yaw velocity and the target yaw velocity correction value, so that the accuracy of the trigger intervention control is improved, and the stable driving of the vehicle on the inclined road surface is guaranteed.

    本发明提供一种控制方法、控制装置及计算机可读存储介质,控制方法应用于控制装置,包括,获取车辆的工况参数,其中,工况参数包括实际横摆角速度、横向加速度、当前车速、当前方向盘转角;根据工况参数,计算横向加速度偏移量及目标横摆角速度;根据横向加速度偏移量,计算目标横摆角速度偏移量;根据目标横摆角速度偏移量,对目标横摆角速度进行修正;根据实际横摆角速度与目标横摆角速度的修正值的关系,对车辆执行对应的控制操作。本发明通过对目标横摆角速度进行修正,并根据实际横摆角速度与目标横摆角速度修正值的关系,对车辆执行对应的控制操作,提高触发干预控制的准确性,保障车辆在倾斜路面上稳定行驶。


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    Title :

    Control method, control device and computer readable storage medium


    Additional title:

    一种控制方法、控制装置及计算机可读存储介质


    Contributors:
    ZHU XINFANG (author) / CAI RUNJIA (author) / ZHANG WANLI (author) / TIAN BAIHUI (author) / ZHANG XIAOHANG (author)

    Publication date :

    2021-01-22


    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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