The invention relates to a method for guiding a motor vehicle (100) equipped with a module for controlling a lateral movement and a steering system (8) which limits the absolute value of the yaw rate of the motor vehicle to a maximum yaw rate, the rate of change of which is between a minimum value and a maximum value, the method is characterized in that it comprises iterations of the following steps:-a step (El) of selecting a yaw velocity rate of change,-a step (E2) of maximizing a virtual reference yaw velocity as a function of the yaw velocity rate of change and a maximum yaw velocity,-a step (E3) of maximizing the virtual reference yaw velocity as a function of the yaw velocity rate of change and the maximum yaw velocity, a step (E3) of transmitting the virtual reference yaw velocity to the module for controlling the lateral movement.
本发明涉及一种用于引导机动车辆(100)的方法,该机动车辆配备有用于控制侧向移动的模块以及转向系统,该转向系统(8)将机动车辆的横摆角速度的绝对值限制为最大横摆角速度,该横摆角速度的变化速率在最小值与最大值之间,该方法的特征在于,该方法包括对以下步骤进行迭代:‑选择横摆角速度变化速率的步骤(El),‑根据横摆角速度变化速率和最大横摆角速度而使虚拟参考横摆角速度最大化的步骤(E2),‑将虚拟参考横摆角速度传输到用于控制侧向移动的模块的步骤(E3)。
Method for guiding motor vehicle
用于引导机动车辆的方法
2024-09-24
Patent
Electronic Resource
Chinese
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