The invention relates to a vehicle transverse control method and device, a storage medium and a vehicle in the field of automatic driving. The method comprises the following steps: determining a target steering angle of a steering wheel based on a target trajectory of a vehicle and a vehicle pose; according to the target steering angle of the steering wheel and the steering data of the vehicle, the steering angle compensation amount of the steering wheel is determined; and controlling the vehicle to steer according to the target steering angle of the steering wheel and the steering angle compensation amount of the steering wheel, so that the actual steering angle of the vehicle is consistent with the target steering angle of the steering wheel. By adopting the mode, the actual steering angle of the vehicle can be consistent with the target steering angle of the steering wheel by compensating the steering angle compensation amount of the steering wheel.
本公开涉及自动驾驶领域的一种车辆横向控制方法、装置、存储介质及车辆。该方法包括:基于车辆的目标轨迹、以及车辆位姿确定转向盘目标转角;根据所述转向盘目标转角、以及所述车辆的转向数据确定转向盘转角补偿量;根据所述转向盘目标转角和所述转向盘转角补偿量控制所述车辆转向,以使所述车辆的实际转向角度与所述转向盘目标转角一致。采用这种方式,通过补偿转向盘转角补偿量可以使车辆的实际转向角度与转向盘目标转角一致。
Vehicle transverse control method and device, storage medium and vehicle
车辆横向控制方法、装置、存储介质及车辆
2022-07-29
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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