Transverse control method and device based on steering, equipment and storage medium

A technology of lateral control and emergency steering, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system and other directions, which can solve the problem of cumbersome operation for detecting large-scale steering.

Pending Publication Date: 2020-11-13
广州景骐科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Embodiments of the present invention propose a steering-based lateral control method, device, device, and storag

Method used

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  • Transverse control method and device based on steering, equipment and storage medium
  • Transverse control method and device based on steering, equipment and storage medium
  • Transverse control method and device based on steering, equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] figure 2 It is a flow chart of a steering-based lateral control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of adaptive user operation recognition emergency steering operation, and the method can be implemented by a steering-based lateral control device. Execution, the steering-based lateral control device can be implemented by software and / or hardware, and can be configured in computer equipment, for example, driving control equipment, etc., specifically includes the following steps:

[0044] Step 201, when it is detected that the vehicle is turning on a curve, calculate the type of curve and the deviation value.

[0045] In this embodiment, when the user drives the vehicle, the automatic driving mode can be activated. The so-called automatic driving mode can refer to the mode in which the vehicle itself has environmental perception, path planning and autonomous vehicle control, that is, the vehicle is contr...

Embodiment 2

[0083] Figure 4It is a flow chart of a steering-based lateral control method provided by Embodiment 2 of the present invention. Based on the foregoing embodiments, this embodiment further refines the search event recognition model, trains the target event recognition model, and recognizes emergency steering. Operation, the method specifically includes the following steps:

[0084] Step 401, when it is detected that the vehicle is turning on a curve, calculate the type of curve and the deviation value.

[0085] Wherein, the deviation value represents the degree of the vehicle deviating from the standard direction.

[0086] Step 402 , taking the lane line of the curve as a reference, dividing part of the deviation value into a first target deviation value representing emergency steering and a second target deviation value representing non-emergency steering.

[0087] Step 403, look for an event recognition model trained for the type of curve.

[0088] In this embodiment, the...

Embodiment 3

[0179] Figure 7 The structural block diagram of a steering-based lateral control device provided in Embodiment 3 of the present invention may specifically include the following modules:

[0180] A deviation value calculation module 701, configured to calculate the type of the curve and the deviation value when it is detected that the vehicle is turning in a curve, the deviation value indicates the degree to which the vehicle deviates from the standard direction;

[0181] A deviation value division module 702, configured to use the lane line of the curve as a reference to divide part of the deviation value into a first target deviation value representing emergency steering and a second target deviation value representing non-emergency steering;

[0182] A target event identification model training module 703, configured to use the first target deviation value and the second target deviation value as classified samples, update the event identification module matching the type o...

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Abstract

The embodiment of the invention provides a transverse control method and device based on steering, equipment and a storage medium. The method comprises the following steps: when it is detected that the vehicle steers on the curve, calculating the type and deviation value of the curve, using the lane line of the curve as a reference, dividing the partial deviation value into a first target deviation value representing emergency steering and a second target deviation value representing non-emergency steering; taking the first target deviation value and the second target deviation value as classified samples; updating an event identification module matched with the type of the curve; obtaining a target event recognition model, inputting part of the deviation values into a target event recognition model for classification; identifying an operation indicative of emergency steering; conducting transverse control on steering of the vehicle on the curve according to emergency steering operation, collecting the deviation value of the vehicle driven by the user in real time, continuing to train on the basis of the previous event recognition model, the training amount is small, the real-timerequirement is met, and the event recognition model conforming to the driving style of the user is obtained through training step by step.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of automatic control, and in particular to a steering-based lateral control method, device, equipment and storage medium. Background technique [0002] When the user is driving a vehicle, it is a common operation to turn with the change of the road, also known as turning. In some cases, the user will make a sharp turn, also known as sharp turning, which may cause the vehicle to leave the user's controllable range. Cause drift, which not only reduces the comfort of passengers, but also may present a safety risk. [0003] Therefore, the automatic driving system will detect large-scale steering and intervene in large-scale steering to improve passenger comfort and reduce safety risks. [0004] At present, in order to detect large-scale steering, the orientation of the vehicle is usually detected, and a corresponding static threshold is set. If the change of orientation exceeds or fall...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 孙子文李斌霍达韩旭
Owner 广州景骐科技有限公司
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