The invention relates to a method for lateral control of a vehicle, comprising the following steps: ascertaining a first preview distance on the basis of a current speed of the vehicle and a predefined time constant; a second preview distance is obtained based on the first preview distance and a first optimization parameter and/or a second optimization parameter, the first optimization parameter is obtained based on the road curvature at the current position of the vehicle, and the second optimization parameter is obtained based on the road curvature change rate at the current position of the vehicle; obtaining a current preview point of the vehicle based on the second preview distance and obtaining a course angle deviation and/or a transverse distance deviation of the vehicle at the current preview point relative to an expected driving track; a control signal for the lateral control of the vehicle is ascertained on the basis of the course angle deviation and/or the lateral distance deviation. The invention also relates to a device for lateral control of a vehicle. The invention also relates to a controller for a vehicle. The invention also relates to a vehicle and a computer readable storage medium.

    本发明涉及一种用于车辆的横向控制的方法,所述方法包括以下步骤:基于所述车辆的当前速度和预给定的时间常数求取第一预瞄距离;基于所述第一预瞄距离和第一优化参数和/或第二优化参数求取第二预瞄距离,其中,所述第一优化参数基于所述车辆的当前位置处的道路曲率求取,所述第二优化参数基于所述车辆的当前位置处的道路曲率变化率求取;基于所述第二预瞄距离求取所述车辆的当前预瞄点以及求取所述车辆在所述当前预瞄点处相对于期望行驶轨迹的航向角偏差和/或横向距离偏差;基于所述航向角偏差和/或所述横向距离偏差求取用于所述车辆的横向控制的控制信号。本发明还涉及一种用于车辆的横向控制的装置。本发明还涉及一种用于车辆的控制器。本发明还涉及一种车辆以及一种计算机可读存储介质。


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    Title :

    Method and device for lateral control of vehicle, controller, vehicle and computer readable storage medium


    Additional title:

    用于车辆的横向控制的方法和装置、控制器、车辆以及计算机可读存储介质


    Contributors:
    ZHANG ZILEI (author)

    Publication date :

    2024-10-22


    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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