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Vehicle lateral motion control method, control terminal and storage medium

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

Active Publication Date: 2022-07-29
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

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

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Embodiment Construction

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

[0060] Please refer to figure 1 , figure 1 It is a schematic diagram of a hardware structure of a control terminal provided in various embodiments of the present invention. The control terminal includes components such as a communication module 01 , a memory 02 and a processor 03 . Those skilled in the art can understand that, figure 1 The terminals shown in may also include more or fewer components than shown, or some combination of components, or a different arrangement of components. The processor 03 is respectively connected to the memory 02 and the communication module 01 , the memory 02 stores a computer program, and the computer program is simultaneously executed by the processor 03 .

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

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Abstract

The invention discloses a lateral motion control method of a vehicle, a control terminal and a storage medium. The method includes: obtaining an initial position on the lane line corresponding to the vehicle position at the current moment according to the vehicle position and the lane line equation at the current moment; Preset time interval, current vehicle speed, initial position and lane line equation, obtain multiple predicted positions on the lane line along the vehicle's forward direction; obtain the expected steering wheel angle corresponding to the initial position and multiple predicted positions respectively; The average value of the expected steering wheel angles corresponding to the predicted positions is taken as the expected steering wheel angle of the vehicle at the current moment; the actual steering wheel angle and the expected steering wheel angle at the current moment are input into the preset closed-loop PID control algorithm to obtain the target torque at the current moment . The invention solves the problem of poor vehicle control stability in the existing lateral motion control technology.

Description

technical field [0001] The present invention relates to the field of intelligent driving, in particular to a lateral motion control method 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, and the lateral motion control method is the core of the entire motion control system. Stability, comfort, etc. [0003] The current mainstream lateral motion control method for vehicles 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 determined by the near point. The lateral distance deviation PID closed-loop control of the vehicle center deviating from the lane centerline and the far-point heading angle deviation PID closed-loop con...

Claims

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Application Information

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Patent Type & Authority Patents(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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