The invention discloses an automatic driving transverse control method and device, relates to the technical field of automatic driving, and mainly aims to improve the transverse control precision of a vehicle in an automatic driving mode and ensure the driving safety in the automatic driving mode. According to the main technical scheme, the method comprises the steps that the operation condition of a vehicle in an automatic driving mode is determined; deviation compensation is conducted on the yaw velocity or the steering wheel rotation angle of the vehicle under the different operation working conditions based on first specified period circulation, so that the compensated yaw velocity or the compensated steering wheel rotation angle corresponding to each first specified period is obtained; storing the compensated yaw velocity or the compensated steering wheel rotation angle corresponding to each first specified period into a specified directory; and on the basis of a second specified period, the compensated yaw velocity or the compensated steering wheel rotation angle corresponding to the last first specified period in the specified directory is cyclically utilized to execute transverse control over the vehicle.
本发明公开了一种自动驾驶横向控制方法及装置,涉及自动驾驶技术领域,主要目的在于提升自动驾驶模式下车辆的横向控制精度,保证自动驾驶模式下的行车安全。本发明主要的技术方案为:确定车辆在自动驾驶模式下的运行工况;基于第一指定周期循环对不同所述运行工况下的所述车辆的横摆角速度或方向盘转角进行偏差补偿,以获得每个所述第一指定周期对应的补偿后的横摆角速度或补偿后的方向盘转角;将每个所述第一指定周期对应的补偿后的横摆角速度或补偿后的方向盘转角存储至指定目录中;基于第二指定周期循环利用所述指定目录中最近一次所述第一指定周期对应的所述补偿后的横摆角速度或所述补偿后的方向盘转角执行对所述车辆的横向控制。
Automatic driving transverse control method and device
一种自动驾驶横向控制方法及装置
2023-06-27
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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