The invention discloses an intelligent driving vehicle transverse control method. The method comprises the steps that a vehicle transverse expected track is formed; x1 is substituted into a transverse expected track of the vehicle to calculate y1, control torque or a steering angle is provided according to y1 to electric power steering, x1 is at a first specified near-point X-axis position, and y1 is at a first near-point Y-axis position deviation; x2 is substituted into a transverse expected track of the vehicle to calculate y2, a control torque or a steering angle is provided according to y2 to electric power steering, x2 is at a first specified far-point X-axis position, and y2 is at a first far-point Y-axis position; x3 is substituted into a first-order derivative of a transverse expected track of the vehicle to calculate a1, a control torque or a turning angle is provided according to a1 to electric power steering, x3 is a second specified near-point X-axis position, and a1 is near-point course angle deviation; x5 is substituted into the second derivative of the transverse expected track of the vehicle to calculate y5 '', the control torque or the steering angle is dynamically provided for electric power steering according to y5'', x5 is the first designated point, and transverse control is conducted for electric power steering according to the control torque or the steering angle.
本发明公开了一种智能驾驶车辆横向控制方法,包括:形成车辆横向期望轨迹;将x1代入车辆横向期望轨迹计算得到y1,根据y1提供控制扭矩或转角至电动助力转向,x1第一指定近点X轴位置,y1第一近点Y轴位置偏差;将x2代入车辆横向期望轨迹计算得到y2,根据y2提供控制扭矩或转角至电动助力转向,x2第一指定远点X轴位置,y2第一远点Y轴位置偏差;将x3代入车辆横向期望轨迹一阶导数计算得a1,根据a1提供控制扭矩或转角至电动助力转向,x3第二指定近点X轴位置,a1是近点航向角偏差;将x5代入车辆横向期望轨迹二阶导数计算得y5”,根据y5”动态提供控制扭矩或转角至电动助力转向,x5是第一指定点;根据控制扭矩或转角至电动助力转向进行横向控制。
Intelligent driving vehicle transverse control method and module
智能驾驶车辆横向控制方法和模块
2022-04-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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