The present invention relates to a method and a device for eliminating a steady-state lateral deviation and a storage medium. The method comprises: determining whether a vehicle travels on a straight road; computing a lateral deviation value of the vehicle in a case that the vehicle travels on a straight road; determining whether the vehicle has the steady-state lateral deviation based on the collected lateral deviation value; and compensating for the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value in a case that the vehicle has the steady-state lateral deviation. The vehicle that has the steady-state lateral deviation may run steadily, a direction of the vehicle is more accurate, self-driving safety and efficiency are improved, the sense of leftward and rightward swaying brought by a continuous deviation rectification method in the conventional art is effectively eliminated, and self-driving stability is improved.

    본 발명은 정상 상태 횡방향 편차 제거 방법, 장치 및 저장 매체에 관한 것이다. 당해 방법은, 차량이 직선 도로 상에서 주행하고 있는지 여부를 결정하는 것; 차량이 직선 도로 상에서 주행하고 있다고 결정된 경우, 차량의 횡방향 편차 값을 계산하는 것; 채집된 횡방향 편차 값에 기반하여 차량에 정상 상태 횡방향 편차가 존재하는지 여부를 결정하는 것; 및 차량에 정상 상태 횡방향 편차가 존재한다고 결정된 경우, 채집된 횡방향 편차 값에 기반하여 실시간으로 차량의 정상 상태 횡방향 편차를 보상하는 것을 포함한다. 본 발명의 기술 방안은, 정상 상태 횡방향 편차가 존재하는 차량의 주행이 더욱 안정적이고, 차량의 지향성 더욱 정확하도록 하여, 자율 주행의 안전성, 효율을 향상시키며; 또한 종래 기술에서 부단히 편차를 교정하는 방법에 의해 발생하는 좌우 흔들림을 효과적으로 해결하고, 자율 주행의 안전성을 향상시킨다.


    Access

    Download


    Export, share and cite



    Title :

    Method and device for eliminating steady-state lateral deviation and storage medium


    Additional title:

    정상 상태 횡방향 편차 제거 방법, 장치 및 저장 매체


    Contributors:
    CUI XIAO (author) / GUO DINGFENG (author) / ZHU ZHENGUANG (author)

    Publication date :

    2022-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



    METHOD AND DEVICE FOR ELIMINATING STEADY-STATE LATERAL DEVIATION AND STORAGE MEDIUM

    CUI XIAO / GUO DINGFENG / ZHU ZHENGUANG | European Patent Office | 2020

    Free access

    METHOD AND DEVICE FOR ELIMINATING STEADY-STATE LATERAL DEVIATION AND STORAGE MEDIUM

    CUI XIAO / GUO DINGFENG / ZHU ZHENGUANG | European Patent Office | 2020

    Free access

    Method and device for eliminating steady-state lateral deviation and storage medium

    CUI XIAO / GUO DINGFENG / ZHU ZHENGUANG | European Patent Office | 2020

    Free access

    Method and device for eliminating steady-state lateral deviation and storage medium

    CUI XIAO / GUO DINGFENG / ZHU ZHENGUANG | European Patent Office | 2022

    Free access

    REMOVAL METHOD OF STATIONARY LATERAL DIRECTION DEVIATION, DEVICE, STORAGE MEDIUM AND PROGRAM

    CUI XIAO / GUO DINGFENG / ZHU ZHENGUANG | European Patent Office | 2020

    Free access