The invention discloses an automatic driving transverse motion control takeover method and system, electronic equipment and a medium, and the method comprises the steps: obtaining the hand torque of a driver of a current vehicle, and judging whether the hand torque of the driver meets a takeover condition or not; when the driver hand torque does not meet the takeover condition, a torque hybrid gain coefficient is determined according to the driver hand torque, a target control torque is calculated according to the driver hand torque, the automatic driving control torque and the torque hybrid gain coefficient, and then transverse motion control is conducted on the current vehicle according to the target control torque; when the hand torque of the driver meets the take-over condition, transverse motion control is conducted on the current vehicle according to the hand torque of the driver. According to the method, the smoothness of automatic driving transverse motion control takeover is improved, the driving experience of a driver is also improved, and the method can be applied to the technical field of vehicle control.
本发明公开了自动驾驶横向运动控制接管方法、系统、电子设备及介质,包括:获取当前车辆的驾驶员手力矩,并判断驾驶员手力矩是否符合接管条件;当驾驶员手力矩不符合接管条件,根据驾驶员手力矩确定力矩混合增益系数,并根据驾驶员手力矩、自动驾驶控制力矩以及力矩混合增益系数计算目标控制力矩,进而根据目标控制力矩对当前车辆进行横向运动控制;当驾驶员手力矩符合接管条件,根据驾驶员手力矩对当前车辆进行横向运动控制。本发明提高了自动驾驶横向运动控制接管的平顺性,也提高了驾驶员的驾驶体验,可应用于车辆控制技术领域。
Automatic driving transverse motion control takeover method and system, electronic equipment and medium
自动驾驶横向运动控制接管方法、系统、电子设备及介质
2025-01-07
Patent
Electronic Resource
Chinese
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