The invention discloses a transverse acceleration control method and device, equipment and a medium, and relates to the technical field of automatic driving. Comprising the following steps: determining a theoretical steering wheel angle of a vehicle at a current speed, and comparing a current target steering wheel angle with the theoretical steering wheel angle; as the steering wheel rotation angle is in direct proportion to the declaration transverse acceleration, the current target steering wheel rotation angle of the vehicle is smaller than or equal to the theoretical steering wheel rotation angle, the transverse acceleration of the vehicle is smaller than or equal to the declaration transverse acceleration, and the current target steering wheel rotation angle is kept at the moment; if the current target steering wheel angle of the vehicle is greater than the theoretical steering wheel angle, the transverse acceleration of the vehicle is greater than the declared transverse acceleration, so that the current target steering wheel angle is reduced to the theoretical steering wheel angle, the transverse acceleration of the vehicle is reduced to the declared transverse acceleration, and the transverse acceleration is controlled; and the driving safety is improved.
本发明公开了一种横向加速度的控制的方法、装置、设备及介质,涉及自动驾驶技术领域。包括:确定车辆在当前速度下的理论方向盘转角,将当前目标方向盘转角与理论方向盘转角比较。由于方向盘转角与申报横向加速度成正比,因此,车辆的当前目标方向盘转角小于或等于理论方向盘转角,说明车辆的横向加速度是小于或等于申报横向加速度,此时保持当前目标方向盘转角即可;车辆的当前目标方向盘转角大于理论方向盘转角,说明车辆的横向加速度是大于申报横向加速度,所以,将当前目标方向盘转角降低到理论方向盘转角,使得将车辆的横向加速度降低到申报横向加速度,实现了对横向加速度的控制,提高了行车的安全性。
Method, device and equipment for controlling transverse acceleration and medium
一种横向加速度的控制的方法、装置、设备及介质
2024-04-12
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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