The invention discloses an automatic driving transverse motion control takeover method, device and system and a vehicle. The method comprises the steps that the hand torque applied to a steering wheel, the duration time of the hand torque and the current vehicle speed are obtained; determining a corresponding takeover condition according to the current vehicle speed; and when the hand torque and the duration time of the hand torque meet the takeover condition, the electronic power steering system is controlled to quit the transverse motion control function. According to the method, the taking-over conditions are different when the vehicle speeds are different, and the electronic power steering system is controlled to quit the transverse motion control function when the hand torque and the duration time of the hand torque meet the taking-over conditions corresponding to the current vehicle speed, so that a driver can take over steering wheel control rapidly and safely under different vehicle speed states.

    本发明公开了一种自动驾驶横向运动控制接管方法、装置、系统和车辆。该方法包括:获取施加在方向盘上的手力矩、所述手力矩的持续时间和当前车速;根据所述当前车速确定对应的接管条件;在所述手力矩和手力矩的持续时间满足接管条件时,控制电子助力转向系统退出横向运动控制功能。该方法在车速不同时的接管条件不同,在手力矩和手力矩的持续时间满足当前车速对应的接管条件时控制电子助力转向系统退出横向运动控制功能,使不同车速状态下都可以快速且安全地实现驾驶员接管方向盘控制。


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    Title :

    Automatic driving transverse motion control takeover method, device and system and vehicle


    Additional title:

    一种自动驾驶横向运动控制接管方法、装置、系统和车辆


    Contributors:
    WANG XU (author) / LIU WENMAO (author) / ZHANG SHAOSHUAI (author)

    Publication date :

    2023-05-23


    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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