The invention provides a vehicle transverse control method, device and equipment, a medium and a product, and relates to the technical field of intelligent driving. The method comprises the following steps: acquiring vehicle information and a steering wheel angle change rate; an outer-layer controller is called to calculate an expected front wheel turning angle according to the planned position information, the actual position information, the vehicle body basic information and the longitudinal speed information; an inner-layer controller is called to calculate front wheel lateral force, reaction torque applied to a sector gear is calculated according to the front wheel lateral force, then the rotation angle of a second torsion bar is calculated, and expected motor torque and expected steering wheel rotation angle are obtained through calculation according to the rotation angle of the second torsion bar and the steering wheel rotation angle change rate; and finally, calling an inner-layer controller to control motor operation according to the expected motor torque, and controlling a steering wheel to rotate according to the expected steering wheel angle. The method is used for improving the accuracy of transverse control of the heavy vehicle by fully considering the nonlinear relation between the steering wheel rotation angle and the front wheel rotation angle of the vehicle.

    本申请提供一种车辆横向控制方法、装置、设备、介质及产品,涉及智能驾驶技术领域。该方法包括:获取车辆信息和方向盘转角变化率;调用外层控制器根据规划位置信息、实际位置信息、车身基础信息、和纵向速度信息,计算期望前轮转角;调用内层控制器计算前轮侧向力,并根据前轮侧向力计算施加在扇形齿轮上的反作用扭矩,进而计算第二扭杆的旋转角度,并根据第二扭杆的旋转角度、方向盘转角变化率,计算得到期望电机扭矩和期望方向盘转角;最后,调用内层控制器根据期望电机扭矩控制电机运行,根据期望方向盘转角控制方向盘转动。本申请的方法,用以通过充分考虑车辆的方向盘转角与前轮转角之间的非线性关系,提高重型车辆横向控制的准确度。


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    Title :

    Vehicle transverse control method, device, equipment, medium and product


    Additional title:

    车辆横向控制方法、装置、设备、介质及产品


    Contributors:
    JIANG ZHENYU (author) / LU JUN (author) / TIAN LEI (author) / LIU YANG (author)

    Publication date :

    2024-12-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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