The invention relates to the technical field of intelligent control, and provides a walking deviation correction method and system and a vehicle, and the method comprises the steps: obtaining a deviation value between an actual track and a planned track of vehicle driving, and taking the deviation value as an initial deviation; when the initial deviation is larger than the preset allowable deviation, the driving direction of the vehicle is adjusted based on the first adjustment amount; after the preset adjustment period is finished, whether adjustment is effective or not is judged; and when the adjustment is judged to be effective, starting from the next preset adjustment period, repeating the operation of adjusting the driving direction of the vehicle based on the first adjustment amount until the deviation value between the actual driving track of the vehicle and the planned track is smaller than or equal to the preset allowable deviation. The method and the device are used for overcoming the defect that in the prior art, due to the fact that deviation correction is conducted on vehicle running only based on the deviation value, deviation correction is prone to being too large, vehicle running deviation correction based on the time parameters is achieved, the over-adjustment phenomenon is avoided, and the vehicle running stability is improved.
本发明涉及智能控制技术领域,提供一种行走纠偏方法、系统及车辆,其中方法包括:获取车辆行驶的实际轨迹与规划轨迹间的偏差值,作为初始偏差;在初始偏差大于预设允许偏差时,基于第一调整量对车辆的行驶方向进行调整;在预设调整周期结束后,判断调整是否有效;在判定调整有效时,由下一个预设调整周期开始,重复基于第一调整量对车辆的行驶方向进行调整的操作,直至车辆行驶的实际轨迹与规划轨迹间的偏差值小于或等于预设允许偏差。本发明用以解决现有技术中因仅基于偏差值对车辆行驶进行纠偏,所造成的容易纠偏过大的缺陷,实现基于时间参数的车辆行走纠偏,从而避免过调现象的出现,提高车辆行驶稳定性。
Walking deviation rectifying method and system and vehicle
行走纠偏方法、系统及车辆
2022-07-22
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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