Vehicle stable driving control method and device, electronic equipment and storage medium

Abstract

The application relates to a vehicle stable driving control method and device, electronic equipment and a storage medium. The method comprises the steps: determining a to-be-adjusted path from a current driving path based on the obtained size of an obstacle and the current speed of a vehicle if the existence of the obstacle in the current driving path is determined; determining a quasi-target torque value based on the size of the obstacle; when the vehicle drives into the to-be-adjusted path, converting a current moment change rate controlled by a vehicle-mounted system into a target moment change rate; when the vehicle passes through an obstacle, determining a target torque value based on the obtained steering wheel torque value and the quasi-target torque value input by the driver; and sending the target torque value and the target torque change rate to a steering system of the vehicle. By increasing the current torque change rate, the response speed of the vehicle to the road obstacle can be increased, and the situation that the vehicle is excessively large in lateral deviation due to the influence of the road obstacle is reduced, so that the driving stability of the vehicle inan automatic driving mode can be improved, and the driving comfort is improved.

Description

technical field [0001] The present application relates to the technical field of automobiles, and in particular to a control method, device, electronic equipment and storage medium for stable running of a vehicle. Background technique [0002] With the popularization of automobiles and the development of automatic driving technology, people have higher and higher requirements for the stability and safety of the automatic driving system of automobiles, and the development and application of automobile active safety functions have also risen to a new stage. At present, the realization of the active safety function of each automatic driving system is basically based on the detection and recognition capabilities of the front millimeter wave radar, front camera, and car corner radar to detect and identify the road condition information around the vehicle, and make the most correct choice based on this. Realize the control of the vehicle. [0003] For example, the traffic jam pil...

AI Technical Summary

Problems solved by technology

[0004] But in reality, the road conditions are more complex, such as potholes, uneven roads, branches and other small obstacles that cannot be avoided but can be crossed

If TJP does not do special handling for these situations, when passing through these road conditions, it will cause the vehicle to shake a lot in lateral control, which may endanger the safety of the driver on the one hand; on the other hand, it may cause the vehicle to deviate from its own lane, resulting in TJP accidents exit, which increases driver tension and reduces driver comfort

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