The invention discloses a transverse control method and device based on intelligent driving, and the method comprises the steps: obtaining a target response parameter value of a steer-by-wire system of a target vehicle; determining a target compensation parameter value corresponding to the target response parameter value according to the corresponding relationship between the response parameter value and the compensation parameter value of the steer-by-wire system; inputting the preview deviation value, the path preview distance and the target compensation parameter value into a proportional-integral-differential (PID) controller or a proportional-differential (PD) controller for calculation to obtain a first expected steering wheel angle of the target vehicle; and rotating the steering wheel of the target vehicle according to the first expected steering wheel angle for intelligent driving. Therefore, according to the method, the response parameter value corresponding to the steer-by-wire system is fused into transverse control, the more accurate first expected steering wheel angle is obtained according to the target compensation parameter value corresponding to the target response parameter value, transverse control errors caused by the steer-by-wire system are reduced, and therefore the accuracy of the transverse control method is improved.

    本申请公开了一种基于智能驾驶的横向控制方法及装置,在该方法中,获取目标车辆的线控转向系统的目标响应参数值;根据线控转向系统的响应参数值和补偿参数值的对应关系,确定目标响应参数值对应的目标补偿参数值;将预瞄偏差值、路径预瞄距离和目标补偿参数值输入至比例‑积分‑微分PID控制器或比例‑微分PD控制器进行计算,获得目标车辆的第一期望方向盘转角;根据第一期望方向盘转角转动目标车辆的方向盘进行智能驾驶。可见,该方法将线控转向系统对应的响应参数值融入到横向控制中,根据目标响应参数值对应的目标补偿参数值得到更加准确的第一期望方向盘转角,降低线控转向系统导致的横向控制的误差,从而提高横向控制方法的准确性。


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    Title :

    Transverse control method and device based on intelligent driving


    Additional title:

    一种基于智能驾驶的横向控制方法及装置


    Contributors:
    ZHONG SHENGZHI (author) / YOU HU (author) / ZHAO JUNXUN (author) / YANG XU (author) / HU XICHEN (author) / YANG ZHE (author) / LIANG GAOYANG (author)

    Publication date :

    2023-06-23


    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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