The invention discloses a lane keeping control method, device and equipment and a medium, and relates to the technical field of man-machine co-driving, and the method comprises the steps: processing a current request angle of a driving assistance system based on a currently applied hand torque to obtain a processed angle, determining an output turning angle of the driving assistance system based on the hand torque, the current turning angle of the electric power steering system and the processed angle; determining a current hand torque coefficient, and sending the output turning angle and the hand torque coefficient to the electric power steering system, so that the electronic power steering system determines a first output current corresponding to the driving assistance system by using the hand torque coefficient and the output turning angle; total output current is obtained through the electronic power-assisted steering system according to the first output current and second output current obtained based on the hand torque, and the turning angle of a vehicle steering wheel is controlled through the total output current. By adding a hand torque coefficient and optimizing a request angle algorithm of a driving assistance system under hand force, man-machine co-driving control of a lane at a turning angle is realized.

    本申请公开了一种车道保持控制方法、装置、设备及介质,涉及人机共驾技术领域,包括:基于当前施加的手力矩对驾驶辅助系统的当前请求角度进行处理得到处理后角度,基于手力矩、电力助力转向系统当前转角和处理后角度确定出驾驶辅助系统的输出转角;确定出当前的手力矩系数,将输出转角和手力矩系数发送至电力助力转向系统,以便电子助力转向系统利用手力矩系数和输出转角确定出与驾驶辅助系统对应的第一输出电流;通过电子助力转向系统根据第一输出电流和基于手力矩得到的第二输出电流得到总输出电流,并利用总输出电流控制车辆方向盘的转角。通过加入手力矩系数以及对手力下驾驶辅助系统请求角度算法进行优化,实现转角的车道保持人机共驾控制。


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    Title :

    Lane keeping control method, device, equipment and medium


    Additional title:

    一种车道保持控制方法、装置、设备及介质


    Contributors:
    WU LIPENG (author) / CUI YINGHUI (author)

    Publication date :

    2023-08-15


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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