The invention discloses a lane deviation rectification control method and device, and the method comprises the steps: determining a first torque request in response to a lane deviation state, and enabling the first torque request to indicate the total torque required by deviation rectification; determining an optimal response time according to the first torque request; determining first actual response time of the steering wheel according to the current state; if the optimal response time is greater than the first actual response time, decomposing the first torque request into a first number of sub-torques; torque requests corresponding to the sub-torques are sent to the lane keeping system one by one, and after the response to the second torque request corresponding to the previous sub-torque is completed, a third torque request corresponding to the next sub-torque is sent. The multi-section type torque control mode is utilized, the next sub-torque is executed after one sub-torque is executed, the rotating time of the steering wheel is prolonged through the time interval between the two adjacent sections of torque responses, and the steering wheel is smoothly transited to the expected position.
本申请公开了一种车道纠偏控制方法及装置,车道纠偏控制方法包括:响应于车道偏离状态确定第一扭矩请求,第一扭矩请求指示纠偏所需的总扭矩;依据第一扭矩请求确定最佳响应时间;依据当前状态确定方向盘的第一实际响应时间;若最佳响应时间大于第一实际响应时间,则将第一扭矩请求分解成第一数量的子扭矩;向车道保持系统逐个发送与每个子扭矩对应的扭矩请求,其中,在完成与上一子扭矩对应的第二扭矩请求的响应后再发送下一子扭矩对应的第三扭矩请求。本申请利用多段式扭矩控制模式,执行完一个子扭矩后再执行下一个子扭矩,利用相邻两段扭矩响应之间的时间间隔延长方向盘的转动时间,使方向盘平缓过渡到预期位置。
Lane deviation rectification control method and device
一种车道纠偏控制方法及装置
2023-05-23
Patent
Electronic Resource
Chinese
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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