The invention relates to the technical field of vehicle automatic driving, and provides a method for dynamically adjusting a straight steering angle of an automatic driving vehicle, which comprises the following steps of: determining a driving route and a plurality of target path points corresponding to the driving route, determining a current coordinate point of the vehicle, and calculating distances from the current coordinate point to all the target path points; determining a reference point and a reference course and a reference curvature of the vehicle; calculating transverse deviation and course deviation of the vehicle; judging whether the speed, the lateral deviation, the course deviation and the reference curvature of the current vehicle meet set conditions or not, if the set conditions are met, recording the numerical value and the quantity of the lateral deviation, and after the quantity meets an accumulated lateral deviation quantity threshold value of the vehicle, calculating an average lateral deviation according to the recorded lateral deviation data and quantity; the average transverse deviation is not smaller than the transverse deviation threshold value, the straight steering angle is adjusted according to the average transverse deviation, and the path following precision under the working conditions of different load distribution, different road roll angles, uneven tire pressure and the like is improved.
本发明涉及车辆自动驾驶技术领域,提供一种自动驾驶车辆直行转向角动态调整方法,包括如下步骤:确定行驶路线和对应行驶路线的多个目标路径点,确定车辆的当前坐标点,计算当前坐标点到达所有目标路径点的距离;确定参考点和车辆的参考航向和参考曲率;计算车辆的横向偏差和航向偏差;判断当前车辆的速度、横向偏差、航向偏差和参考曲率是否满足设定条件,满足设定条件,记录横向偏差的数值和数量,数量满足车辆的累计横向偏差数量阈值后根据记录的横向偏差数据和数量,计算平均横向偏差,平均横向偏差不小于横向偏差阈值,根据平均横向偏差调整直行转向角,实现提高不同载重分布、不同道路侧倾角、轮胎气压不均等工况下的路径跟随精度。
Method for dynamically adjusting straight steering angle of automatic driving vehicle
一种自动驾驶车辆直行转向角动态调整方法
2025-01-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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