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Vehicle lateral control method and controller

A technology for lateral control and vehicles, applied in the field of lateral control methods and controllers of vehicles, to achieve high control accuracy, improve safety, and improve computing efficiency

Active Publication Date: 2022-04-19
AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] This application provides a vehicle lateral control method and controller to solve the problem of how to improve the accuracy of vehicle lateral control

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  • Vehicle lateral control method and controller
  • Vehicle lateral control method and controller
  • Vehicle lateral control method and controller

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Embodiment Construction

[0085] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in this application. Obviously, the described embodiments are part of the embodiments of this application , but not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0086] The terms "first", "second", "third", "fourth" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily to describe specific sequence or sequence. It should be understood that the data so used are interchangeable under appropriate circumstances. For example, without departing from the scope of this document, f...

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Abstract

The present application provides a vehicle lateral control method and a controller. The method includes: the lateral control controller can periodically acquire the driving information, lateral deviation, and heading angle deviation of the vehicle. The lateral control controller can build a vehicle model based on lateral deviation and heading angle deviation. The lateral control controller determines the first front wheel rotation angle of the vehicle according to the lateral deviation and the heading angle deviation. The lateral control controller determines the second front wheel steering angle of the vehicle according to the driving information and road information. The lateral control controller determines the target front wheel angle according to the sum of the first front wheel angle and the second front wheel angle. Controls and turns the front wheels of the vehicle according to the target front wheel angle. The method of the present application improves the accuracy of lateral control of the vehicle and improves the safety of the unmanned vehicle.

Description

technical field [0001] The present application relates to the field of automatic driving, in particular to a vehicle lateral control method and controller. Background technique [0002] With the increasing number of cars and the development of vehicle technology, autonomous driving technology has gradually become a hot spot in the field of vehicle research. In the process of automatic driving of the vehicle, how to realize the lateral control of the automatic driving vehicle is an important part of the automatic control of the vehicle. [0003] In the prior art, the Proportion Integral Differential (PID) algorithm is the most mature and widely used algorithm in automatic control. The PID algorithm does not need to consider the vehicle model, and can directly realize the lateral control of the vehicle through the closed-loop calculation of proportion, integral and differential according to the current position and the target position. [0004] However, in the automatic cont...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18B60W60/00
CPCB60W30/18163B60W60/001B60W2520/14B60W2720/24
Inventor 郑志阳彭夏鹏赵佳佳王祥海
Owner AUTOMOTIVE INTELLIGENCE & CONTROL OF CHINA CO LTD