The invention provides a vehicle control method for a slope road surface, which comprises the following steps: a road surface gradient analysis step: acquiring a road surface image, and analyzing and calculating according to the road surface image to obtain a road surface gradient value; a vehicle steering compensation step: calculating a transverse deviation distance value according to the road slope value, planning an initial driving track of the vehicle, obtaining a steering gain amplification coefficient according to the transverse deviation distance value through a dynamic compensation strategy, and obtaining a vehicle steering compensation track through expansion of the steering gain amplification coefficient according to the initial driving track of the vehicle; in the vehicle steering positive adjustment step, when the transverse deviation distance value is the same as a preset reference deviation value, the steering gain amplification coefficient of the vehicle is cancelled; a steering integral zero clearing step: when the transverse deviation distance value is the same as the target deviation value, obtaining a steering zero clearing rate through an integral zero clearing strategy according to the course angle value; the method has the advantages that the vehicle can be automatically calibrated and centered to run when going straight or turning on a slope road section, and the safety of automatic centering is ensured.
本发明提供一种斜坡路面的车辆控制方法,路面坡度分析步骤,获取路面图像,根据路面图像分析计算得到路面坡度值;车辆转向补偿步骤,根据路面坡度值计算得到横向偏差距离值,规划车辆初始行驶轨迹,将横向偏差距离值通过动态补偿策略得到转向增益放大系数,根据车辆初始行驶轨迹以转向增益放大系数扩展得到车辆转向补偿轨迹;车辆转向正调步骤,当横向偏差距离值与预设的参考偏差值相同时,将车辆的转向增益放大系数取消;转向积分清零步骤,当横向偏差距离值与目标偏差值相同时,根据航向角度值通过积分清零策略得到转向清零速率;本发明优点是能够保证车辆在斜坡路段的直行或转弯均能自动校准居中行驶,确保自动居中的安全。
Vehicle control method for slope road surface
一种斜坡路面的车辆控制方法
2023-08-18
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 |
Road slope dynamic updating method considering vehicle control state
European Patent Office | 2022
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