The invention discloses a vehicle transverse and longitudinal combined control method based on driving stability, and belongs to the field of vehicle autonomous driving control. The method comprises the following steps: S1, acquiring an actual motion state of a vehicle; s2, sensing a potential collision risk target around the vehicle through a camera of the vehicle; s3, carrying out transverse dynamic analysis on the vehicle; s4, fusing the yaw velocity of the vehicle and the theoretical yaw velocity steady-state response to obtain an expected yaw velocity of the vehicle; s5, calculating the difference value between the actual yaw velocity and the expected yaw velocity of the vehicle; s6, calculating a yaw velocity threshold value and a sideslip angle threshold value of the vehicle; s7, judging whether the yaw velocity exceeds the limit or not; step S8, estimating a road adhesion coefficient; and S9, understeering and oversteering of the vehicle are judged. It can be guaranteed that the vehicle runs in the lane line meeting the specific conditions, and safety and high efficiency are achieved.

    本发明公开了一种基于行驶稳定性的车辆横纵向联合控制方法,属于车辆自主驾驶控制领域。它包括:步骤S1、获取车辆的实际运动状态;步骤S2、通过车辆的摄像头感知自车周围的潜在碰撞风险目标;步骤S3、对车辆进行横向动力学分析;步骤S4、融合车辆的横摆角速度和理论横摆角速度稳态响应,得到车辆的期望横摆角速度;步骤S5、计算车辆的实际横摆角速度之间和期望横摆角速度的差值;步骤S6、计算车辆的横摆角速度门限值和侧滑角门限;步骤S7、判断横摆角速度是否超限;步骤S8、估计路面附着系数;步骤S9、对车辆转向不足和转向过度进行判断。本发明可以保证自车行驶在满足特定条件的车道线内,安全且高效。


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    Title :

    Vehicle transverse and longitudinal combined control method based on driving stability


    Additional title:

    一种基于行驶稳定性的车辆横纵向联合控制方法


    Contributors:
    CHEN GANG (author) / ZHU XINJIAN (author) / SONG GUOQIANG (author)

    Publication date :

    2024-07-05


    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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