The invention discloses a lane centering auxiliary control method and system, a storage medium and a commercial vehicle. The method comprises the steps that environment sensing data and vehicle state data are acquired; acquiring historical driving habit data, and performing deviation compensation on a virtual lane center line calculated based on the environmental perception data to obtain a target lane center line; determining an actual lateral error and a course error, calculating a target front wheel turning angle, and calculating a target steering wheel turning angle; looking up a table according to the target steering wheel angle and the actual vehicle speed to determine a first target torque value; calculating a torque compensation value according to the target steering wheel angle and the actual steering wheel angle; performing torque compensation on the first target torque value according to the torque compensation value to obtain a second target torque value; and outputting a control instruction to a steering system of the commercial vehicle according to the second target torque value. The invention aims to optimize a commercial vehicle lane centering auxiliary control strategy so as to improve the acceptance degree of a commercial vehicle driver to a transverse centering auxiliary function.
本发明公开了一种车道居中辅助控制方法、系统、存储介质及商用车,该方法包括:获取环境感知数据与车辆状态数据;获取历史驾驶习惯数据,对基于环境感知数据计算的虚拟车道中心线进行偏离补偿,得到目标车道中心线;确定实际横向误差与航向误差,计算目标前轮转角,以及计算目标方向盘转角;根据目标方向盘转角与实际车速进行查表以确定第一目标扭矩值;根据目标方向盘转角与实际方向盘转角计算扭矩补偿值;根据扭矩补偿值对第一目标扭矩值进行扭矩补偿,得到第二目标扭矩值;根据第二目标扭矩值输出控制指令至商用车的转向系统。本发明旨在优化商用车车道居中辅助控制策略,以提升商用车驾驶员对横向居中辅助功能的接受程度。
Lane centering auxiliary control method and system, storage medium and commercial vehicle
一种车道居中辅助控制方法、系统、存储介质及商用车
2024-12-06
Patent
Electronic Resource
Chinese
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