The invention provides an emergency steering control method, device and equipment and a readable storage medium, and the emergency steering control method comprises the steps: when the track of a vehicle is detected to coincide with the track of a front obstacle, judging whether a collision avoidance space exists on the side or not; according to the collision time of the vehicle and the front obstacle, the earliest intervention time and the latest intervention time of the emergency steering auxiliary system, the steering intention of the driver and the emergency braking distance, whether the emergency steering auxiliary system is started or not is controlled; the output torque of the emergency steering auxiliary system is adjusted according to the input torque of the driver; and the target yaw velocity is adjusted according to the monitored real-time yaw velocity of the vehicle, so that the real-time yaw velocity of the vehicle does not trigger a vehicle body electronic stability control system. By means of the emergency steering method and device, safe implementation of emergency steering can be better guaranteed, collision after emergency steering is carried out is avoided, the intervention situation of a driver is fully considered, better driving experience is provided, and the safety of emergency steering is improved.

    本发明提供一种紧急转向控制方法、装置、设备及可读存储介质,紧急转向控制方法包括:当检测到车辆的轨迹和前方障碍物的轨迹发生重合时,判断侧方是否有避撞空间;根据车辆和前方障碍物的碰撞时间、紧急转向辅助系统的最早介入时间和最晚介入时间、驾驶员的转向意图及紧急制动距离,控制是否启用紧急转向辅助系统;根据驾驶员的输入扭矩调节紧急转向辅助系统的输出扭矩;根据监测到的车辆的实时横摆角速度调整目标横摆角速度,以供使车辆的实时横摆角速度不触发车身电子稳定控制系统。通过本发明,能够更好的保障紧急转向的安全实施,避免实施紧急转向后发生碰撞,充分考虑驾驶员的介入情况,提供更好的驾驶体验,提升紧急转向的安全性。


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    Title :

    Emergency steering control method, device and equipment and readable storage medium


    Additional title:

    紧急转向控制方法、装置、设备及可读存储介质


    Contributors:
    PEI SHUANGHONG (author) / LI JIACHENG (author) / LI XIANGYI (author) / XIA YUZHANG (author) / ZHOU XINFENG (author)

    Publication date :

    2022-10-04


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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