The invention provides a vehicle transverse control method and system and an automobile, and the method comprises the steps: judging the driving state of a current vehicle according to the current vehicle speed, and selecting a corresponding automatic driving transverse controller; the current vehicle speed, the vehicle yaw velocity, the vehicle side slip angle, the transverse deviation between the vehicle and the target path, the course angle deviation and the target path curvature of the vehicle are input into corresponding driving transverse controllers to be calculated, and the total expected steering wheel turning angle of the vehicle is obtained; and outputting a final steering wheel rotation angle obtained after the total expected steering wheel rotation angle of the vehicle is subjected to amplitude limiting of the steering wheel rotation angle and amplitude limiting of the steering wheel rotation angle change rate to a steering controller, and then performing steering control according to the final steering wheel rotation angle. According to the method, a proper driving transverse controller is selected according to different working conditions, the calculation complexity and the control accuracy are both considered, and the applicability of all working conditions can be achieved; and control parameters to be adjusted are few, so that the working efficiency and the universality can be improved.
本发明提供一种车辆横向控制方法、系统及汽车,包括,根据当前的车速判断当前车辆的行驶状态,选择对应的自动驾驶行车横向控制器;将车辆当前的车速、车辆横摆角速度、车辆质心侧偏角以及车辆与目标路径之间的横向偏差、航向角偏差、目标路径曲率输入对应的行车横向控制器进行计算,得到该车辆的总的期望方向盘转角;将车辆的总的期望方向盘转角经过方向盘转角的限幅和方向盘转角变化率的限幅后得到的最终方向盘转角输出给转向控制器,再根据所述最终方向盘转角进行转向控制。本发明针对不同的工况选择适当的行车横向控制器,兼顾计算复杂度和控制的精确度,可实现全工况的适用性;要调整的控制参数较少,可提高工作效率和普适性。
Vehicle transverse control method and system and automobile
一种车辆横向控制方法、系统及汽车
2024-03-08
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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