A vehicle control method, apparatus, device, and storage medium
By optimizing the vehicle's desired trajectory and target steering wheel angle, and utilizing weighting coefficients and PID target steering angle factors, the problem of steering wheel oscillation in the lane correction assist system was solved, achieving more stable correction control.
CN116872925BActive Publication Date: 2026-07-03NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NEUSOFT REACH AUTOMOBILE TECH (SHENYANG) CO LTD
- Filing Date
- 2023-08-14
- Publication Date
- 2026-07-03
AI Technical Summary
Technical Problem
Existing lane departure warning systems are prone to steering wheel oscillation during lane departure control, making it difficult to find a balance between response speed and overshoot.
Method used
By adjusting the vehicle's desired trajectory and target steering wheel angle, and utilizing the vehicle's lateral distance error weighting coefficient, heading angle error weighting coefficient, and far-end and near-end PID target steering angle weighting factors, the influence of heading angle error and PID target steering angle during the control process is optimized.
Benefits of technology
It effectively reduces the occurrence of steering wheel oscillation during the correction control process, and improves the system's response speed and stability.
✦ Generated by Eureka AI based on patent content.
Smart Images
Figure CN116872925B_ABST
Abstract
This application discloses a vehicle control method, device, equipment, and storage medium. The method includes: obtaining the desired vehicle trajectory in a lane correction assist system based on the vehicle's lateral distance error coefficient, vehicle heading angle error coefficient, vehicle curvature coefficient, vehicle curvature change rate coefficient, and vehicle longitudinal distance; adjusting the desired vehicle trajectory using the vehicle's lateral distance error weighting coefficient and vehicle heading angle error weighting coefficient; the weighting coefficients are used to reduce the proportion of heading angle error in the control process; obtaining the target steering wheel angle in the lane correction assist system based on the far-end PID target steering angle and the near-end PID target steering angle; and controlling the vehicle using the target steering wheel angle and the adjusted desired vehicle trajectory. By optimizing the desired vehicle trajectory, the proportion of heading angle error in the control process is reduced, thereby effectively reducing the occurrence rate of steering wheel oscillation problems during lane correction control.
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