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Transverse control mode switching method, device and system and automobile

A control mode and mode switching technology, applied in the field of automobile manufacturing, can solve the problems of poor overall control effect of the car, and achieve the effect of solving the poor effect and improving the technical effect.

Active Publication Date: 2020-08-18
BEIQI FOTON MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a method, device, system, and vehicle for switching lateral control modes, to at least solve the technical problem in the prior art that the overall control effect of the vehicle is poor in the process of lateral control

Method used

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  • Transverse control mode switching method, device and system and automobile
  • Transverse control mode switching method, device and system and automobile
  • Transverse control mode switching method, device and system and automobile

Examples

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Embodiment 1

[0028] According to an embodiment of the present invention, an embodiment of a method for lateral control mode switching is provided. It should be noted that the steps shown in the flow charts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and , although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0029] figure 1 is a schematic flowchart of a method for lateral control mode switching according to an embodiment of the present invention, such as figure 1 As shown, the method includes the following steps:

[0030] Step S102, in the case of entering automatic driving, determine the control mode according to the detected vehicle speed and whether emergency obstacle avoidance occurs;

[0031] Step S104, when the control mode is determined, switch the control mode according to the monitored veh...

Embodiment 2

[0050] According to another aspect of the embodiments of the present invention, there is also provided a device for lateral control mode switching, Figure 4 is a schematic structural diagram of a device for lateral control mode switching according to an embodiment of the present invention, such as Figure 4 shown, including:

[0051] The determining module 42 is used to determine the control mode according to the detected vehicle speed and whether emergency obstacle avoidance occurs when entering automatic driving; the switching module 44 is used to determine the control mode according to the detected vehicle speed and whether Emergency obstacle avoidance occurs to switch the control mode.

[0052] Optionally, the determining module 42 includes: a first determining unit, configured to, when the control mode includes the angle control mode and the direct torque control mode, if the detected vehicle speed is less than the first preset vehicle speed and the vehicle is not in em...

Embodiment 3

[0054] According to yet another aspect of the embodiments of the present invention, a system for lateral control mode switching is also provided, Figure 5 is a schematic structural diagram of a system for lateral control mode switching according to an embodiment of the present invention, such as Figure 5 As shown, it includes: a vehicle decision-making control unit 52 and a steering controller 54, wherein the vehicle decision-making control unit 52 determines the control mode according to the detected vehicle speed and whether there is an emergency obstacle avoidance when entering automatic driving, and will The determined control mode is sent to the steering controller, which is adjusted by the steering controller according to preset conditions; when the vehicle decision-making control unit 52 determines the control mode, the vehicle decision-making control unit 52 according to the monitored vehicle speed and whether there is Emergency obstacle avoidance switches the contro...

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Abstract

The invention discloses a transverse control mode switching method, device and system and an automobile. The method comprises the steps that under the condition of entering automatic driving, a control mode is determined according to the detected vehicle speed and whether emergency obstacle avoidance occurs or not; and under the condition that the control mode is determined, the control mode is switched according to the monitored vehicle speed and whether emergency obstacle avoidance occurs or not. The technical problem that in the prior art, the overall control effect on the automobile is poor in the transverse control process is solved.

Description

technical field [0001] The invention relates to the technical field of automobile manufacturing, in particular to a method, device, system and automobile for lateral control mode switching. Background technique [0002] At present, there are basically two mainstream control methods for the lateral control of automatic driving of commercial vehicles: steering angle control (also known as position control) and direct torque control (referred to as torque control). In the actual development process, these two methods require a long calibration time, or use more complex algorithms to ensure the basic horizontal control requirements in the current development stage. However, the operating scenarios and working conditions of autonomous driving of commercial vehicles vary greatly. At the same time, compared with passenger vehicles, commercial vehicles have a larger load on the front axle and a larger load on lateral control execution. Therefore, the complexity of intelligent steeri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/08B60W30/182B60W40/105
CPCB60W30/08B60W30/182B60W40/105
Inventor 师小五金大鹏
Owner BEIQI FOTON MOTOR CO LTD