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Vehicle lateral control method, system, vehicle and storage medium

A lateral control and vehicle technology, applied in the direction of automatic steering control components, vehicle components, steering mechanisms, etc., can solve the problems of increased torque request, steering wheel stuck feeling, and affecting the driver's subjective experience, so as to reduce the stuck feeling, Accurate response and the effect of eliminating the torque plateau phenomenon

Active Publication Date: 2021-07-27
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the lateral control of automatic driving is ultimately reflected in the output of the steering wheel angle. For the current lateral control method of automatic driving, a "torque plateau" may occur, that is, the torque request output by the ADAS controller increases, while the EPS system output The torque of the steering wheel cannot change the steering wheel angle. This "torque plateau" phenomenon will cause the steering wheel to feel stuck in the actual response and affect the driver's subjective experience.

Method used

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  • Vehicle lateral control method, system, vehicle and storage medium
  • Vehicle lateral control method, system, vehicle and storage medium
  • Vehicle lateral control method, system, vehicle and storage medium

Examples

Experimental program
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Embodiment 1

[0048] Figure 1A It is a schematic flowchart of a vehicle lateral control method provided in Embodiment 1 of the present invention, and this embodiment is applicable to lateral control of autonomous vehicles. like Figure 1A As shown, the vehicle lateral control method provided in Embodiment 1 of the present invention includes:

[0049] S110. Obtain a first steering torque request value.

[0050] Specifically, the steering torque request value refers to the torque value that needs to be applied to the steering wheel calculated by the lane master control system (such as the lane keeping assist system) when the vehicle is turning under automatic driving. In the process of automatic driving, the corresponding torque mainly applied to the steering wheel by the EPS system of the vehicle causes the steering wheel to rotate a certain angle to complete the steering of the vehicle, so the first steering torque request value is calculated by the vehicle’s lane master control system, an...

Embodiment 2

[0059] figure 2 It is a schematic flowchart of a vehicle lateral control method provided by Embodiment 2 of the present invention, and this embodiment is a further optimization of the foregoing embodiments. like figure 2 As shown, the vehicle lateral control method provided in Embodiment 2 of the present invention includes:

[0060] S200. Obtain a steering torque parameter.

[0061] Specifically, the steering torque parameter refers to the parameters required to calculate the steering torque request value, including environmental monitoring parameters and vehicle state parameters. The environmental monitoring parameters include: lane line curvature, lane width, and the distance between the vehicle center and the lane line. It is mainly obtained by the vehicle's environmental monitoring system, which is mainly composed of cameras, radars and sensors. The vehicle state parameters include: steering wheel torque, steering wheel angle, and wheel slip angle. The vehicle state p...

Embodiment 3

[0080] image 3 It is a schematic structural diagram of a vehicle lateral control system provided in Embodiment 3 of the present invention, and this embodiment is applicable to lateral control of autonomous vehicles. The vehicle lateral control system provided in the third embodiment of the present invention can realize the vehicle lateral control method provided in any embodiment of the present invention, and has the corresponding functional structure and beneficial effects of the method. For the content not described in detail in this embodiment, please refer to any of the present invention Description of method embodiments.

[0081] like image 3 As shown, the vehicle lateral control system provided by Embodiment 3 of the present invention includes: a steering torque request value acquisition module 310, a steering assist module 320, a steering compensation module 330, and a target steering torque value determination module 340, wherein:

[0082] The steering torque reque...

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Abstract

The embodiment of the present invention discloses a vehicle lateral control method, system, vehicle and storage medium. The method includes: acquiring a first steering torque request value; determining the steering assist torque according to the first steering torque request value; A first steering torque request value determines a first steering compensation torque; a target steering torque value is determined according to the steering assist torque and the first steering compensation torque. In the embodiment of the present invention, by optimizing the performance of the EPS system at the execution end of the automatic driving lateral control, the torque plateau phenomenon during the automatic driving lateral control is eliminated, so that the vehicle can respond to the steering signal more accurately during the automatic driving process, and the actual response of the steering wheel is reduced. The stuck feeling that will appear in the

Description

technical field [0001] The embodiments of the present invention relate to the technical field of automatic driving technology, and in particular to a vehicle lateral control method, system, vehicle and storage medium. Background technique [0002] The lateral control of the self-driving vehicle is mainly used to control the steering wheel of the vehicle. The ADAS (Advanced Driving Assistant System, Advanced Driver Assistance System) controller configured in the vehicle controls the EPS (Electric Power Steering, Electric Power Steering) by adjusting the steering wheel angle or torque request in real time. ) The actual torque output by the system, so as to realize the steering of the vehicle. [0003] At present, the lateral control of automatic driving is mainly through the algorithm optimization of the ADAS controller to make the output torque request more in line with the actual demand, so that the EPS system can output the corresponding torque according to the torque reque...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B62D15/00
CPCB62D6/008B62D15/025
Inventor 公博健高乐刘秋铮张建王宇周添李林润滕矗
Owner CHINA FIRST AUTOMOBILE