Vehicle transverse motion control method, control terminal and storage medium

A technology of lateral motion and control method, which is applied in the field of computer-readable storage media and lateral motion control of vehicles, and can solve problems such as poor vehicle control stability

Active Publication Date: 2021-08-20
SAIC-GM-WULING AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a vehicle lateral motion control method, control terminal and computer-readable storage medium, aiming to solve the problem of poor stability of vehicle control in the existing lateral motion control technology

Method used

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  • Vehicle transverse motion control method, control terminal and storage medium
  • Vehicle transverse motion control method, control terminal and storage medium
  • Vehicle transverse motion control method, control terminal and storage medium

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Embodiment Construction

[0059] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0060] Please refer to figure 1 , figure 1 It is a schematic diagram of the hardware structure of the control terminal provided in each embodiment of the present invention. The control terminal includes communication module 01, memory 02, processor 03 and other components. Those skilled in the art can understand that, figure 1 The terminals shown in may also include more or fewer components than shown, or combine certain components, or have different arrangements of components. Wherein, the processor 03 is connected to the memory 02 and the communication module 01 respectively, the memory 02 stores a computer program, and the computer program is executed by the processor 03 at the same time.

[0061] The communication module 01 can be connected with external devices through the network. The communication module 0...

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Abstract

The invention discloses a transverse motion control method of a vehicle, a control terminal and a storage medium, and the method comprises the steps: obtaining an initial position, corresponding to a vehicle position at a current moment, on a lane line according to the vehicle position at the current moment and a lane line equation; according to a preset time interval, the vehicle speed at the current moment, the initial position and the lane line equation, obtaining a plurality of predicted positions on the lane line in the vehicle advancing direction; obtaining steering wheel expected angles corresponding to the initial position and the multiple predicted positions; taking the average value of the steering wheel expected angles corresponding to the initial position and the multiple predicted positions as the steering wheel expected angle of the vehicle at the current moment; and inputting the actual angle of the steering wheel and the expected angle of the steering wheel at the current moment into a preset closed-loop PID control algorithm to obtain a target torque at the current moment. The problem that the stability of vehicle control is poor in an existing transverse motion control technology is solved.

Description

technical field [0001] The invention relates to the field of intelligent driving, in particular to a method for controlling lateral motion of a vehicle, a control terminal and a computer-readable storage medium. Background technique [0002] The lateral motion control of intelligent driving is one of the three cores of this technology. The lateral motion control method is the core of the entire motion control system. Stability, comfort, etc. have an impact. [0003] The mainstream lateral motion control method of the existing vehicle is composed of a deviation feedback PID control algorithm with feedforward. In this method, the feedforward amount is obtained from a two-dimensional interpolation table composed of the current vehicle speed and the road turning radius; the feedback amount is obtained from the near point The PID closed-loop control of the lateral distance deviation of the vehicle center from the center line of the lane and the PID closed-loop control of the far...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W50/00
CPCB60W30/02B60W50/00B60W2050/0011
Inventor 满兴家林智桂覃高峰蒋祖坚邓琬云
Owner SAIC-GM-WULING AUTOMOBILE CO LTD
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