A vehicle abnormal lane change control method, device and system. The vehicle abnormal lane change control method, comprising: obtaining a current transverse state value of an autonomous vehicle and a target line to which the autonomous vehicle is about to move corresponding to the current transverse state value, wherein each transverse state value is preconfigured to correspond to different target lines; determining a desired trajectory of the autonomous vehicle according to the target line; performing preview tracking control on the autonomous vehicle based on the desired trajectory to obtain a target steering wheel angle, wherein the requirements of the target steering wheel angle minimize the error between the actual traveling trajectory and the desired trajectory of the vehicle; and controlling the vehicle to perform abnormal lane change according to the target steering wheel angle. The vehicle abnormal lane change control method has self-adaptability, and enables the autonomous vehicle to cope with different abnormal road conditions, avoiding safety accidents caused by the inability of autonomous vehicle to cope with complex road conditions.
VEHICLE ABNORMAL LANE CHANGE CONTROL METHOD, DEVICE AND SYSTEM
VERFAHREN, VORRICHTUNG UND SYSTEM ZUR STEUERUNG EINES ABNORMALEN FAHRSPURWECHSELS EINES FAHRZEUGS
PROCÉDÉ, DISPOSITIF ET SYSTÈME DE COMMANDE DE CHANGEMENT DE VOIE ANORMAL DE VÉHICULE
2022-05-18
Patent
Electronic Resource
English
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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