The invention relates to the technical field of vehicles, in particular to a transverse control method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps that a road condition image of a road where the vehicle is located, vehicle body posture data of the vehicle and a steering wheel rotating angle are collected; calculating a vehicle body offset of the vehicle according to the road condition image of the road where the vehicle is located, and calculating an auxiliary turning angle of the vehicle based on a preset model controller and vehicle body attitude data; and determining a weight coefficient according to the steering wheel rotation angle, the auxiliary rotation angle and the vehicle body offset, determining a total target control rotation angle according to the weight coefficient, the steering wheel rotation angle and the auxiliary rotation angle, and performing transverse control on the vehicle based on the total target control rotation angle. Therefore, the problem that mutual interference exists between a driver and an auxiliary system when lane departure assistance is conducted through steering control is solved, the steering wheel rotation angle and the EPS auxiliary rotation angle are reasonably distributed through the weight coefficient, and the flexibility of lane keeping assistance and the driving safety of the driver are improved.
本申请涉及车辆技术领域,特别涉及一种车辆的横向控制方法、装置、车辆及存储介质,其中,方法包括:采集车辆所处道路的路况图像、车辆的车身姿态数据和方向盘转角;根据车辆所处道路的路况图像计算车辆的车身偏移量,并基于预设的模型控制器和车身姿态数据计算车辆的辅助转角;根据方向盘转角、辅助转角和车身偏移量确定权重系数,并根据权重系数、方向盘转角和辅助转角确定总目标控制转角,并基于总目标控制转角对车辆进行横向控制。由此,解决采用转向控制进行车道偏离辅助时会存在驾驶员和辅助系统之间的相互干扰问题,通过权重系数合理分配方向盘转角和EPS辅助转角,提高车道保持辅助的灵活性及驾驶员的驾驶安全性。
Transverse control method and device of vehicle, vehicle and storage medium
车辆的横向控制方法、装置、车辆及存储介质
2024-07-12
Patent
Electronic Resource
Chinese
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