The invention discloses a vehicle, a transverse control method and device thereof and a storage medium. The method comprises the steps that the longitudinal vehicle speed vx of the vehicle, the transverse acceleration ay of the vehicle and the steering angle delta L of a steering wheel are obtained; determining a steering characteristic area of the vehicle during steering according to the transverse acceleration ay of the vehicle; according to the steering characteristic area where the vehicle is located during steering, inherent physical characteristic parameters of the vehicle and the longitudinal vehicle speed vx, the vehicle transverse acceleration ay and the steering wheel turning angle delta L measured by a vehicle sensor are combined, and the yaw velocity of the vehicle is calculated in different calculation modes so that transverse control can be conducted on the vehicle according to the yaw velocity. The method can effectively improve the accuracy, stability and practicability of vehicle transverse motion control, and improve the subjective safety experience of transverse control in the automatic driving technology.

    本发明公开了一种车辆及其横向控制方法、装置和存储介质,包括:获取车辆纵向车速vx、车辆横向加速度ay以及方向盘转角δL;根据车辆横向加速度ay确定车辆转向时所处的转向特性区域;根据车辆转向时所处的转向特性区域,结合车辆的固有物理特征参数以及车辆传感器测量的纵向车速vx、车辆横向加速度ay和方向盘转角δL,采用不同的计算方式计算车辆的横摆角速度以便根据横摆角速度对车辆进行横向控制。该方法可有效提升车辆横向运动控制的准确性、稳定性及实用性,并提升自动驾驶技术中的横向控制主观安全体验。


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    Title :

    Vehicle, transverse control method and device thereof and storage medium


    Additional title:

    车辆及其横向控制方法、装置和存储介质


    Contributors:

    Publication date :

    2022-06-21


    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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