The invention discloses an auxiliary driving vehicle transverse control method and device, and the method comprises the steps: obtaining an auxiliary vehicle transverse control strategy; the strategies for assisting the transverse control of the vehicle comprise a first transverse control strategy and a second transverse control strategy; acquiring lane line information of a lane where the vehicle is located; the lane line information comprises curvature information for guiding the vehicle to control steering of a steering wheel and lane line incomplete state information; according to the lane line information, a strategy for assisting in vehicle transverse control is switched, a vehicle is guided to control a steering wheel to steer, and a driving track is generated; wherein in the process of switching the strategy for assisting the transverse control of the vehicle, the shake elimination for controlling the steering of the steering wheel is carried out. According to the scheme, jitter elimination processing is carried out on control data jitter generated when different driving strategies are switched, so that the smoothness of automatic driving is fully guaranteed.
本申请公开了一种辅助驾驶车辆横向控制方法、辅助驾驶车辆横向控制装置,方法包括,获取辅助车辆横向控制的策略;所述辅助车辆横向控制的策略包括第一横向控制策略和第二横向控制策略;获取车辆所在车道的车道线信息;所述车道线信息包括,引导车辆控制方向盘转向的曲率的信息和车道线残缺状态的信息;根据所述车道线信息,切换所述辅助车辆横向控制的策略,引导车辆控制方向盘转向,生成行驶轨迹;其中,切换所述辅助车辆横向控制的策略过程中,做控制方向盘转向的消抖。通过上述方案,对不同驾驶策略之间切换时产生的控制数据抖动进行消抖处理,使自动驾驶的平顺性得到充分的保障。
Transverse control method and device for auxiliary driving vehicle
辅助驾驶车辆横向控制方法及装置
2024-06-14
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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