The embodiment of the invention provides a transverse distance calculation method and device for transverse control, equipment and a medium, and relates to the technical field of intelligent drive.The method comprises the steps that after an intelligent dodging deviation function is started, the transverse distance between a vehicle and a front vehicle of an adjacent lane is detected and obtained; in the process that the self-vehicle executes the deviation action, the deviation of the transverse distance of the self-vehicle caused by the change of the course angle is calculated at the longitudinal distance position between the self-vehicle and the front vehicle by taking the lane center line of the lane where the self-vehicle is located as the reference; according to the deviation correction transverse distance, a target transverse distance is obtained, and the target transverse distance is used for judging whether the intelligent evasion offset function continues to be implemented or not. According to the scheme, the transverse distance of the target better conforms to the cognition of the physical world, the situation that the transverse distance of the target is too large is avoided, whether the intelligent evasion offset function continues to be implemented or not is judged based on the transverse distance of the target, and the problem that function exit or unexpected control occurs due to the fact that the detected transverse distance is wrong can be avoided.
本发明实施例提供了一种用于横向控制的横向距离的计算方法、装置、设备及介质,涉及智能驾驶技术领域,其中,该方法包括:在开启智慧躲闪偏移功能后,检测获取自车与相邻车道的前车之间的横向距离;在自车执行偏移动作的过程中,在自车与前车的纵向距离处,以自车所在车道的车道中心线为基准,计算自车由于航向角度变化带来的横向距离的偏差;根据偏差修正横向距离,得到目标横向距离,目标横向距离用于判断是否继续实施智慧躲闪偏移功能。该方案使得目标横向距离更符合物理世界的认知,避免目标横向距离偏大,基于目标横向距离来判断是否继续实施智慧躲闪偏移功能,使得可以避免由于检测的横向距离错误导致功能退出或非预期的控制发生的问题。
Transverse distance calculation method and device for transverse control, equipment and medium
用于横向控制的横向距离的计算方法、装置、设备及介质
2024-08-09
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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