The invention discloses a transverse take-over control method, device and equipment and a vehicle, and the method comprises the steps: obtaining a real-time torque value of a steering wheel when the vehicle is in an auxiliary driving mode, and carrying out the integral operation of the real-time torque value to obtain a real-time torque integral; and when the real-time torque integral reaches a preset integral threshold value and all real-time torque values corresponding to the real-time torque integral are larger than the preset torque threshold value, the vehicle is controlled to exit the auxiliary driving mode so that a driver can take over transversely. According to the embodiment of the invention, when the real-time torque value is greater than the torque threshold value, whether the vehicle is transversely takeover by the driver is judged according to the integral of the real-time torque value, so that the problem of poor robustness of a takeover mechanism caused by too short judgment time is avoided, and the requirement of quick takeover in an emergency is met.

    本发明公开一种横向接管控制方法、装置、设备及车辆,包括:在车辆处于辅助驾驶模式时获取方向盘的实时扭矩值,并对所述实时扭矩值进行积分运算以得到实时扭矩积分;当所述实时扭矩积分达到预设的积分阈值,且与所述实时扭矩积分对应的所有实时扭矩值均大于预设的扭矩阈值时,控制所述车辆退出辅助驾驶模式以使驾驶员进行横向接管。本发明实施例能够通过在实时扭矩值大于扭矩阈值时,根据实时扭矩值的积分来判定车辆是否由驾驶员进行横向接管,既避免了判定时间过短造成接管机制鲁棒性差的问题,也满足在紧急情况下快速接管的需求。


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    Title :

    Transverse pipe connecting control method, device and equipment and vehicle


    Additional title:

    一种横向接管控制方法、装置、设备及车辆


    Contributors:

    Publication date :

    2024-06-04


    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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