The invention discloses a vehicle transverse control method, device and equipment and a medium, and relates to the technical field of automatic driving, and the method comprises the steps that in a first state, the angle of a steering wheel is used as a first request angle to be sent to an electric power steering system, and the electric power steering system is forbidden to transversely control a vehicle based on the received first request angle; the first state is that the vehicle is in a transverse control activated state and the vehicle speed meets a low-speed judgment condition; determining a request angle change rate according to the first request angle and a second request angle calculated based on the lane environment in a second state; the second state is that the vehicle is in a transverse control activated state and the vehicle speed meets a non-low-speed judgment condition; and determining a current request angle according to the request angle change rate, and sending the current request angle to the electric power steering system. When the vehicle speed is low, the situation that the steering wheel is hard and cannot be controlled is avoided, when the vehicle speed returns to normal, the situation that the steering wheel is violently hit is avoided, and good driving experience is brought to a driver.

    本申请公开了一种车辆横向控制方法、装置、设备及介质,涉及自动驾驶技术领域,包括:在第一状态下将方向盘的角度作为第一请求角度发送至电动助力转向系统,并禁止其基于接收到的第一请求角度对车辆横向控制;第一状态为车辆处于横向控制激活状态,且车速满足低速判定条件;在第二状态下根据第一请求角度及基于车道环境计算的第二请求角度确定请求角度变化率;第二状态为车辆处于横向控制激活状态,且车速满足非低速判定条件;根据请求角度变化率确定当前请求角度,并将其发送至电动助力转向系统。本申请在车速较低时,不会出现方向盘较硬无法被控制的情况,在车速恢复正常时,不会出现方向盘猛打的情况,给驾驶员带来较好的驾驶体验。


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    Title :

    Vehicle transverse control method, device, equipment and medium


    Additional title:

    一种车辆横向控制方法、装置、设备及介质


    Contributors:
    CUI YINGHUI (author) / MAO PENGFEI (author) / PENG XIANG (author) / LI GANG (author) / YANG XIAOFEI (author)

    Publication date :

    2024-06-14


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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