The invention provides a vehicle transverse control method, system and device and a medium, and relates to the technical field of intelligent driving. The method comprises the following steps: judging whether the transverse distance between a vehicle and a front vehicle of an adjacent lane meets a set safe distance or not according to the vehicle speed of the vehicle; if not, whether the vehicle meets set transverse dynamic adjustment conditions or not is judged, and the transverse dynamic adjustment conditions comprise set vehicle driving safety state conditions and driving environment dynamic adjustment conditions; if yes, transversely and dynamically shifting a target track line of the own vehicle to the direction far away from the front vehicle; judging whether the vehicle reaches a preset offset target track or not; if yes, whether the vehicle meets the set condition of returning to the current lane center line or not is judged; if yes, the vehicle is controlled to return to the current lane center line position. According to the invention, by quantizing the offset index, the safety and subjective feelings of the driver and the conductor are considered to the maximum extent, and accurate transverse control is realized.

    本发明提供了一种车辆横向控制方法、系统、设备及介质,涉及智能驾驶技术领域。方法包括:根据自车车速,判断自车与相邻车道的前车之间的横向距离是否满足设定的安全距离;若否,则判断自车是否满足设定的横向动态调整条件,所述横向动态调整条件包括设定的自车行车安全状态条件及行车环境动态调整条件;若是,则将自车行驶的目标轨迹线向远离所述前车的方向进行横向动态偏移;判断自车是否达到预设的偏移目标轨迹;若是,则判断自车是否满足设定的返回当前车道中心线的条件;若是,则控制自车返回至当前车道中心线位置。本发明通过量化偏移指标,最大程度上考量了司乘人员安全性及其主观感受,实现了精准的横向控制。


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    Title :

    Vehicle transverse control method, system, equipment and medium


    Additional title:

    一种车辆横向控制方法、系统、设备及介质


    Contributors:
    WEI SONGBO (author) / LE JINRUI (author) / WANG SHULIANG (author) / CHENG JIANWEI (author)

    Publication date :

    2024-01-09


    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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