The invention relates to the technical field of auxiliary driving, and provides an auxiliary driving transverse control method and system, a vehicle and a storage medium. Based on the lane line information and a preset vehicle motion coordinate system, a reference track of the vehicle in a preset time period is obtained, and the reference track is a lane centered driving reference track; based on the reference trajectory, obtaining a reference control state parameter of the vehicle; on the basis of the reference control state parameters and a preset discrete control state equation, vehicle control state prediction is carried out, and predicted control state parameters of the vehicle in at least one prediction period are obtained; and performing auxiliary driving transverse control based on the predictive control state parameters. The auxiliary driving transverse control of the vehicle can be realized without adopting a positioning sensor to determine the position of the vehicle under the absolute coordinate, and the method is high in accuracy, low in cost and high in feasibility.
本发明涉及辅助驾驶技术领域,提供一种辅助驾驶横向控制方法、系统、车辆及存储介质,方法包括:获取车道线信息;基于车道线信息和预设的车辆运动坐标系,得到车辆在预设时间段内的参考轨迹,参考轨迹为车道居中行驶参考轨迹;基于参考轨迹,得到车辆的参考控制状态参数;基于参考控制状态参数和预设的离散控制状态方程,进行车辆控制状态预测,得到在至少一个预测周期内的车辆的预测控制状态参数;基于预测控制状态参数,进行辅助驾驶横向控制。无需采用定位传感器确定车辆在绝对坐标下的位置,即可实现对车辆的辅助驾驶横向控制,精确度较高,成本较低,可实施性较强。
Auxiliary driving transverse control method and system, vehicle and storage medium
辅助驾驶横向控制方法、系统、车辆及存储介质
2023-09-12
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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