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Lateral control method and device for automatic driven vehicle, and vehicle

An automatic driving and lateral control technology, applied in the field of vehicles, can solve problems such as not being able to satisfy automatic driving, inaccurate steering control, and inability to ensure vehicle driving

Active Publication Date: 2020-01-10
BEIJING AUTOMOTIVE IND CORP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

If the steering control of the vehicle is inaccurate, the vehicle cannot be guaranteed to travel along the predetermined route, and thus cannot better meet the needs of automatic driving.

Method used

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  • Lateral control method and device for automatic driven vehicle, and vehicle
  • Lateral control method and device for automatic driven vehicle, and vehicle
  • Lateral control method and device for automatic driven vehicle, and vehicle

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Embodiment Construction

[0104] When driving a vehicle, the driver usually pays attention to a certain point in front of the vehicle, which can be used as a preview point for the driver, so as to control the driving route of the vehicle. For self-driving vehicles, in an unmanned driving environment, the controller's determination of the front preview point can directly affect the accuracy of the vehicle's steering control while the vehicle is driving. Therefore, the controller needs to continuously determine the appropriate preview point during the driving process of the vehicle to control the vehicle to complete the steering, so as to ensure that the vehicle travels according to the preset driving trajectory.

[0105] Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to li...

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Abstract

The invention relates to a lateral control method and device for an automatic driven vehicle, and a vehicle. The method comprises the following steps that: obtaining the current vehicle speed and thecurrent position of the vehicle; according to the current vehicle speed, determining a first preview distance; according to the first preview distance and the current position, determining a preview point on a preset driving trajectory; determining the maximum course angle of the driving trajectory between the current position and the preview point; according to the maximum course angle and the first preview distance, determining a second preview distance; according to the second preview distance, determining a target preview distance; according to the target preview distance, determining theturning angle of a steering wheel; and according to the turning angle of the steering wheel, controlling the steering wheel of the vehicle to rotate to control the vehicle to steer. Therefore, when the target preview distance is determined, the current vehicle speed of the vehicle and the road information of the driving trajectory are simultaneously considered, the determined target preview distance more conforms to a current driving situation of the vehicle, the accuracy of the lateral control of the automatic driven vehicle can be improved, and therefore, the automatic driven vehicle guarantees to be driven along the preset driven trajectory.

Description

technical field [0001] The present disclosure relates to the field of vehicles, and in particular, to a lateral control method, device and vehicle for an automatic driving vehicle. Background technique [0002] With the development of vehicle technology, autonomous driving technology has gradually become a hot spot in the field of vehicle research. Autonomous vehicles are now widely used in fields such as logistics distribution, port transportation, and automatic parking. [0003] Since the self-driving vehicle realizes unmanned driving, in order to ensure the normal driving of the vehicle, a controller is required to control the self-driving vehicle. Among them, the lateral control of the self-driving vehicle is an important part of the vehicle control, and the lateral control is the steering control of the vehicle so that the vehicle travels along a predetermined route. If the steering control of the vehicle is inaccurate, it cannot guarantee that the vehicle will travel ...

Claims

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Application Information

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IPC IPC(8): B60W10/20B60W40/105
CPCB60W10/20B60W40/105B60W2520/10B60W2710/20
Inventor 纪明君陈新李彪
Owner BEIJING AUTOMOTIVE IND CORP
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