The invention provides a transverse control method and device based on four-wheel steering, a storage medium and a vehicle. The method comprises the following steps: determining a target obstacle around the vehicle based on acquired environment information around the vehicle; based on the speed and the position of the target obstacle and the running speed and the running position of the vehicle, the collision time of the vehicle and the target obstacle is determined; determining a transverse control mode of the vehicle according to the collision time and road data of a road where the vehicle is located, and then planning an avoidance path according to a steering radius which can be realized by the transverse control mode; according to the avoiding path, a front wheel target steering angle and a rear wheel target steering angle are determined, and a steering request with the front wheel target steering angle and the rear wheel target steering angle is sent to a vehicle-mounted controller so as to control the vehicle to run along the avoiding path.
本发明提供了一种基于四轮转向的横向控制方法、装置、存储介质及车辆。所述方法包括:基于获取到的所述车辆周围的环境信息,确定所述车辆周围的目标障碍物;基于所述目标障碍物的速度和位置,以及所述车辆的行驶速度和位置,确定所述车辆与所述目标障碍物的碰撞时间;根据所述碰撞时间以及所述车辆所在道路的道路数据,确定所述车辆的横向控制模式,之后,根据所述横向控制模式可实现的转向半径规划避让路径;根据所述避让路径,确定前轮目标转向角和后轮目标转向角,并向车载控制器发送带有所述前轮目标转向角和所述后轮目标转向角的转向请求,以控制所述车辆沿所述避让路径行驶。
Transverse control method and device based on four-wheel steering, storage medium and vehicle
基于四轮转向的横向控制方法、装置、存储介质及车辆
2022-11-25
Patent
Electronic Resource
Chinese
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