The invention discloses a vehicle deviation control method, device and equipment and a storage medium, and relates to the technical field of auxiliary driving. The method comprises the following steps: acquiring driving data of a current vehicle, and judging a driving state type of the current vehicle according to the driving data; if the driving state type of the current vehicle is straight road driving, torque compensation is conducted on the current vehicle; and if the driving state type of the current vehicle is curve driving, torque compensation and angle compensation are conducted on the current vehicle. Torque compensation is carried out when the vehicle runs on a straight road, angle and torque compensation is carried out when the vehicle runs on a curve, dynamic correction is carried out on vehicle deviation, the vehicle deviation control capacity is improved, safety risks caused by vehicle deviation are avoided, adaptive correction can be carried out for different vehicles, and the vehicle deviation correction efficiency is improved. And it is ensured that transverse centering control of the driving assistance system can have stable performance on a large number of vehicles.

    本申请公开了一种车辆跑偏控制方法、装置、设备及存储介质,涉及辅助驾驶技术领域。该方法包括:获取当前车辆的行驶数据,并根据所述行驶数据判断所述当前车辆的行驶状态类型;若所述当前车辆的行驶状态类型为直道行驶,则对所述当前车辆进行扭矩补偿;若所述当前车辆的行驶状态类型为弯道行驶,则对所述当前车辆进行扭矩补偿和角度补偿。通过对车辆在直道行驶时进行扭矩补偿,对车辆在弯道行驶中进行角度和扭矩两个方面的补偿,对车辆跑偏进行动态修正,提高车辆跑偏控制能力,避免车辆跑偏带来的安全风险,能够针对不同车辆进行适应性修正,保证驾驶辅助系统横向居中控制可以在大批量车上具有稳定的性能表现。


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    Title :

    Vehicle deviation control method, device and equipment and storage medium


    Additional title:

    一种车辆跑偏控制方法、装置、设备及存储介质


    Contributors:
    HAN JIUHUI (author)

    Publication date :

    2023-04-25


    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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