The invention provides a lane centered driving control method and system and a vehicle, and belongs to the technical field of vehicle automatic driving. The lane centered driving control method comprises the following steps: acquiring a first roll angle of a current position of a vehicle; acquiring a second roll angle at a preset position in front of the vehicle, wherein the preset position is a position on a lane center line; when the absolute value of the difference value of the first roll angle and the second roll angle is larger than a roll angle change threshold value, theoretical transverse distance deviation caused by roll angle change of the vehicle is calculated according to the first roll angle and the second roll angle; calculating a target steering wheel angle according to the theoretical lateral distance deviation; and controlling the vehicle to run according to the target steering wheel angle. According to the lane centering driving control method, the vehicle can more stably and accurately run in the middle of the lane.

    本发明提供了一种车道居中行驶控制方法、控制系统及车辆,属于车辆自动驾驶技术领域。该车道居中行驶控制方法包括:获取车辆当前位置的第一侧倾角;获取所述车辆前方预设位置处的第二侧倾角,所述预设位置为车道中心线上的位置;在所述第一侧倾角和所述第二侧倾角的差值的绝对值大于侧倾角变化阈值时,根据所述第一侧倾角和所述第二侧倾角计算因所述车辆的侧倾角变化引起的理论横向距离偏差;根据所述理论横向距离偏差计算目标方向盘转角;根据所述目标方向盘转角控制车辆行驶。本发明的车道居中行驶控制方法能够使得车辆更稳定、精确地在车道正中间行驶。


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    Title :

    Lane centered driving control method, control system and vehicle


    Additional title:

    车道居中行驶控制方法、控制系统及车辆


    Contributors:
    GAO SEN (author) / LI WEIQIANG (author) / PENG HAIDONG (author) / HU JIA (author) / FANG LINQUAN (author)

    Publication date :

    2023-05-26


    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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