The invention discloses a vehicle transverse control method. The method comprises the steps that a current road adhesion coefficient and vehicle state parameters are obtained; according to the vehicle state parameters, a preset ideal yaw angle speed, a yaw angle speed deviation and a preset deviation threshold value, the current vehicle state is determined, and the current vehicle state comprises excessive steering and insufficient steering; when the current vehicle state is oversteering and the current road surface corresponding to the current road surface adhesion coefficient is a low-adhesion road surface, an electronic power steering (EPS) system and an electronic stability system (ESP) are controlled to jointly carry out transverse control on the vehicle; otherwise, using an electronic stability system (ESP) to transversely control the vehicle. The invention further discloses a corresponding device and system and a storage medium. According to the method, when the vehicle deviates from the lane on the low-attachment road surface, the reasonable torque of the steering wheel can be controlled, and the reliability of lane keeping assistance and the safety of the vehicle are improved.
本发明公开了一种车辆横向控制方法,其包括步骤:获取当前路面附着系数以及车辆状态参数;根据所述车辆状态参数以及预设的理想横摆角度速度、横摆角度速度偏差、预设的偏差阈值,确定当前车辆状态,所述当前车辆状态包括:转向过度和转向不足;在当前车辆状态为转向过度,且当前路面附着系数对应当前路面为低附着路面时,控制电子助力转向系统EPS以及电子稳定系统ESP共同对车辆进行横向控制;否则,利用电子稳定系统ESP对车辆进行横向控制。本发明还公开了相应的装置、系统及存储介质。实施本发明,当车辆在低附路面出现车道偏离时,可以控制方向盘的合理力矩,提高了车道保持辅助的可靠性和车辆的安全性。
Vehicle transverse control method, device and system, vehicle and storage medium
一种车辆横向控制方法、装置、系统、车辆及存储介质
2024-06-07
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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