Transverse control method and device for vehicle

Abstract

The invention discloses a transverse control method and device for a vehicle. The method comprises the following steps: acquiring a target steering characteristic parameter, a current longitudinal vehicle speed of a target vehicle and an actual characteristic vehicle speed of the target vehicle; based on the ratio of the current longitudinal vehicle speed of the target vehicle to the target characteristic vehicle speed of the target vehicle, the target yaw velocity of the target vehicle is determined; and controlling wheels of the target vehicle to steer based on the target yaw velocity. Therefore, according to the target steering characteristic parameters changing along with the driving characteristics of different drivers, the target yaw velocity adapting to the driving habits of the different drivers can be calculated, and the maneuverability of the drivers to the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle lateral control method and device. Background Art

[0002] Vehicle maneuverability refers to the difference between the result achieved by manipulating the steering, brakes, accelerator, and various vehicle technical and condition configurations and the driver's expected and predicted purpose when the vehicle has its own problems or external factors. Therefore, vehicle maneuverability is particularly important for drivers.

[0003] Among them, the accuracy of the vehicle's lateral control is one of the important factors in measuring the vehicle's maneuverability. At present, vehicles usually have active safety control systems. Taking the Active Front Steering system (AFS) as an example, AFS can assist the driver in lateral control of the vehicle and improve driving safety. However, the driver may not be able to adapt to the AFS, which will affect the driver's maneuverability of the vehicle.

[0004] Therefore, how to improve vehicle maneuverability has become a problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, an embodiment of the present application provides a method and device for lateral control of a vehicle, aiming to improve the maneuverability of the vehicle.

[0006] In a first aspect, an embodiment of the present application provides a lateral control method for a vehicle, the method comprising:

[0007] Acquiring a target steering characteristic parameter, a current longitudinal speed of the target vehicle, and an actual characteristic speed of the target vehicle; the target steering characteristic parameter is used to characterize the driving characteristics of a target driver driving the target vehicle; and the target steering characteristic parameter is positively correlated with the steering sensitivity of the target vehicle;

[0008] Determining a target yaw rate of the target vehicle based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle; the target characteristic speed of the target vehicle is determined based on a product of the target steering characteristic parameter and an actual characteristic speed of the target vehicle;

[0009] Based on the target yaw rate, the wheels of the target vehicle are controlled to steer.

[0010] Optionally, the acquiring the target steering characteristic parameter, the current longitudinal speed of the target vehicle and the actual characteristic speed of the target vehicle specifically includes:

[0011] Acquire the target steering characteristic parameter, the current longitudinal speed of the target vehicle, the actual characteristic speed of the target vehicle, the current steering wheel angle of the target vehicle, and the vehicle characteristic parameters of the target vehicle; the vehicle characteristic parameters of the target vehicle are used to characterize the hardware characteristics of the target vehicle;

[0012] The determining the target yaw rate of the target vehicle based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle specifically includes:

[0013] Obtaining a first ratio based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle;

[0014] Multiplying the first ratio and the vehicle characteristic parameter of the target vehicle to obtain a first product;

[0015] Multiplying the current longitudinal speed of the target vehicle and the current steering wheel angle of the target vehicle to obtain a second product;

[0016] A target yaw rate of the target vehicle is determined based on a ratio of the second product to the first product.

[0017] Optionally, the target characteristic speed of the target vehicle is obtained by:

[0018] The target steering characteristic parameter, the characteristic vehicle speed coefficient of the target vehicle and the actual characteristic vehicle speed of the target vehicle are multiplied to determine the target characteristic vehicle speed of the target vehicle.

[0019] Optionally, the target vehicle includes a steering characteristic parameter editing control, and obtaining the target steering characteristic parameter specifically includes:

[0020] In response to the target driver's editing operation on the steering characteristic parameter editing control, the target steering characteristic parameter is acquired.

[0021] Optionally, the vehicle lateral control method further includes:

[0022] Obtaining the lateral slope of the road condition on which the target vehicle is located and the mass of the target vehicle;

[0023] Multiplying the lateral slope and the mass of the target vehicle to determine a target yaw angle compensation speed of the target vehicle;

[0024] The determining the target yaw rate of the target vehicle based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle specifically includes:

[0025] determining a desired yaw rate of the target vehicle based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle;

[0026] The desired yaw rate of the target vehicle is added to the target yaw compensation rate to determine a target yaw rate of the target vehicle.

[0027] Optionally, the acquiring the lateral slope of the road condition where the target vehicle is located specifically includes:

[0028] Obtaining the predicted center-of-mass lateral acceleration of the target vehicle, the actual center-of-mass lateral acceleration of the target vehicle, and the roll angle of the target vehicle;

[0029] Subtracting the predicted center-of-mass lateral acceleration of the target vehicle from the actual center-of-mass lateral acceleration of the target vehicle to obtain an acceleration difference;

[0030] The arc sine value of the acceleration difference is subtracted from the roll angle of the target vehicle to obtain the lateral slope.

[0031] Optionally, the obtaining of the lateral slope of the road condition on which the target vehicle is located and the mass of the target vehicle specifically includes:

[0032] Acquire the lateral slope of the road condition where the target vehicle is located, the mass of the target vehicle, the current steering wheel angle of the target vehicle, the steering characteristic parameters of the target vehicle, and the vehicle characteristic parameters of the target vehicle;

[0033] The step of multiplying the lateral slope and the mass of the target vehicle to determine a target yaw angle compensation speed of the target vehicle specifically includes:

[0034] Multiplying the transverse slope by the mass of the target vehicle to determine a transverse slope component of the center of mass of the target vehicle;

[0035] Obtaining a second ratio based on a ratio of the steering characteristic parameter of the target vehicle to a current steering wheel angle of the target vehicle;

[0036] The desired yaw rate of the target vehicle is multiplied by the second ratio to determine a yaw rate gain of the target vehicle; the desired yaw rate of the target vehicle is determined based on the ratio of the current longitudinal vehicle speed of the target vehicle to the target characteristic vehicle speed of the target vehicle;

[0037] The target yaw angle compensation speed of the target vehicle is determined by multiplying the mass center lateral slope component of the target vehicle, the vehicle characteristic parameter of the target vehicle, and the yaw rate gain of the target vehicle.

[0038] Optionally, the vehicle lateral control method further includes:

[0039] Acquire a wheel speed difference between a left wheel speed of the target vehicle and a right wheel speed of the target vehicle, and a current brake pedal depression depth of the target vehicle;

[0040] The determining the target yaw rate of the target vehicle based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle specifically includes:

[0041] If the wheel speed difference is less than or equal to the wheel speed difference threshold, or the current brake pedal depression depth is less than or equal to the depression depth threshold, determining a target yaw rate of the target vehicle based on a ratio of the current longitudinal vehicle speed of the target vehicle to a target characteristic vehicle speed of the target vehicle;

[0042] If the wheel speed difference is greater than the wheel speed difference threshold, and the current brake pedal depression depth is greater than the depression depth threshold, a preset yaw rate is determined as the target yaw rate of the target vehicle.

[0043] Optionally, controlling the wheels of the target vehicle to steer based on the target yaw angular velocity specifically includes:

[0044] Performing feedforward control on the wheel steering of the target vehicle based on the target yaw angular velocity, and performing feedback control on the wheel steering of the target vehicle based on the target yaw angular velocity, the current yaw angular velocity of the target vehicle and the yaw angular velocity of the target vehicle at the kth sampling moment, and outputting a target wheel steering angle value of the target vehicle; wherein k is an integer greater than 0;

[0045] The target wheel angle value is input into the wheel steering actuator of the target vehicle to control the wheels of the target vehicle to steer.

[0046] In a second aspect, an embodiment of the present application provides a lateral control device for a vehicle, the device comprising:

[0047] an acquisition module, used for acquiring a target steering characteristic parameter, a current longitudinal speed of the target vehicle and an actual characteristic speed of the target vehicle; the target steering characteristic parameter is used for characterizing the driving characteristics of a target driver driving the target vehicle; the target steering characteristic parameter is positively correlated with the steering sensitivity of the target vehicle;

[0048] a determination module, configured to determine a target yaw rate of the target vehicle based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle; the target characteristic speed of the target vehicle being determined based on a product of the target steering characteristic parameter and an actual characteristic speed of the target vehicle;

[0049] A control module is used to control the wheels of the target vehicle to steer based on the target yaw angular velocity.

[0050] In a third aspect, an embodiment of the present application provides a lateral control device for a vehicle, the device comprising a memory and a processor:

[0051] The memory is used to store a computer program and transmit the computer program to the processor;

[0052] The processor is used to execute the computer program so that the device performs the vehicle lateral control method described in the first aspect.

[0053] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed, a device executing the computer program implements the vehicle lateral control method described in the first aspect above.

[0054] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0055] The embodiment of the present application provides a lateral control method and device for a vehicle. In the method, a target steering characteristic parameter, a current longitudinal speed of a target vehicle, and an actual characteristic speed of the target vehicle are obtained; the target steering characteristic parameter is used to characterize the driving characteristics of a target driver driving the target vehicle; the target steering characteristic parameter is positively correlated with the steering sensitivity of the target vehicle; the target yaw rate of the target vehicle is determined based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle; the target characteristic speed of the target vehicle is determined based on the product of the target steering characteristic parameter and the actual characteristic speed of the target vehicle; based on the target yaw rate, the wheels of the target vehicle are controlled to steer. It can be seen that the method obtains a target steering characteristic parameter used to characterize the driving characteristics of a target driver driving the target vehicle, calculates the target characteristic speed of the target vehicle based on the target steering characteristic parameter, and then determines the target yaw rate based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed. The target steering characteristic parameter that changes with the driving characteristics of different drivers can calculate a target yaw rate that adapts to the driving habits of different drivers, improves the driver's experience of using active safety control systems such as AFS, and then improves the driver's maneuverability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 A flow chart of a lateral control method of a vehicle provided in an embodiment of the present application;

[0058] Figure 2 A schematic diagram of an ISO coordinate system direction definition provided in an embodiment of the present application;

[0059] Figure 3 A flowchart of a specific vehicle lateral control method provided in an embodiment of the present application;

[0060] Figure 4 A schematic diagram of a target vehicle in a bad working condition with and without AFS control provided in an embodiment of the present application showing a comparison of lateral displacements of the target vehicle with and without AFS control;

[0061] Figure 5 A schematic diagram of comparison of target yaw angular velocities obtained when a target steering characteristic parameter has different values ​​provided in an embodiment of the present application;

[0062] Figure 6 A schematic diagram of comparison of steering wheel angles obtained when a target steering characteristic parameter has different values ​​provided in an embodiment of the present application;

[0063] Figure 7 A schematic diagram of a control effect of AFS control on a target vehicle under normal operating conditions provided by an embodiment of the present application;

[0064] Figure 8 A schematic structural diagram of a lateral control device for a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] At present, the existing vehicle lateral control methods usually use active safety control systems such as AFS to assist the driver in lateral control of the vehicle. However, the driver may not be able to adapt to the vehicle's AFS, resulting in the yaw rate obtained based on the AFS exceeding the driver's assumptions and predictions, thereby affecting the driver's control of the vehicle.

[0067] Based on this, in order to solve the above problems, the embodiment of the present application provides a lateral control method and device for a vehicle. In this method, the target steering characteristic parameter, the current longitudinal speed of the target vehicle and the actual characteristic speed of the target vehicle are obtained; the target steering characteristic parameter is used to characterize the driving characteristics of the target driver driving the target vehicle; the target steering characteristic parameter is positively correlated with the steering sensitivity of the target vehicle; based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle, the target yaw rate of the target vehicle is determined; the target characteristic speed of the target vehicle is determined based on the product of the target steering characteristic parameter and the actual characteristic speed of the target vehicle; based on the target yaw rate, the wheels of the target vehicle are controlled to steer. It can be seen that the target steering characteristic parameter that changes with the driving characteristics of different drivers can calculate the target yaw rate that adapts to the driving habits of different drivers, improve the driver's experience of using active safety control systems such as AFS, and thus improve the driver's maneuverability of the vehicle.

[0068] The specific implementation of the vehicle lateral control method and device in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0069] See also Figure 1 , which is a flow chart of a lateral control method for a vehicle provided in an embodiment of the present application, combined with Figure 1 As shown, it may specifically include:

[0070] S101: Acquire a target steering characteristic parameter, a current longitudinal speed of the target vehicle, and an actual characteristic speed of the target vehicle.

[0071] For ease of understanding, the following embodiments all take the target vehicle triggering the AFS function as an example to describe in detail the lateral control method of the vehicle provided by the present application. It should be noted that the present application does not limit the type of active safety control system installed on the target vehicle.

[0072] As an example, when the yaw rate error ω of the target vehicle Err Greater than the AFS activation yaw rate threshold ω inThr , and the target vehicle's center of mass sideslip angle β is greater than the AFS activation yaw rate threshold β inThr , the AFS function of the target vehicle is activated.

[0073] In the related art, when the AFS function of a vehicle is activated, the AFS can assist the driver in lateral control of the vehicle. However, the AFS is an auxiliary control system designed with fixed parameters, which ignores the different driving habits of different drivers. For example, for the same vehicle, driver A is accustomed to lightly stepping on the accelerator when turning, while driver B is accustomed to slightly stepping on the accelerator when turning. In other words, the difference in vehicle maneuverability among different drivers is ignored, and the assistance effect of the AFS of the same vehicle for different drivers is the same, resulting in a lower acceptance of the AFS by some drivers, and they are unable to better adapt to the vehicle's lateral assistance system.

[0074] The present application introduces a target steering characteristic parameter, which is used to characterize the driving characteristics of the target driver driving the target vehicle; the target steering characteristic parameter is positively correlated with the steering sensitivity of the target vehicle. The target steering characteristic parameter can vary with different driving habits of different drivers.

[0075] In a possible implementation manner of the present application, the target vehicle may include a steering characteristic parameter editing control, and the obtaining of the target steering characteristic parameter may specifically include: obtaining the target steering characteristic parameter in response to an editing operation of the target driver on the steering characteristic parameter editing control. Before driving the target vehicle, the target user may edit the steering characteristic parameter editing control and input the target steering characteristic parameter.

[0076] It should be noted that the target steering characteristic parameter may also be an adaptive setting of the target vehicle according to the driver's habits, and this application does not limit this.

[0077] It can be seen that the target driver can independently edit the target steering characteristic parameters through the steering characteristic parameter editing control, which is the human-computer interaction interface of the target vehicle, so that when driving the target vehicle, the performance of the target vehicle is more in line with his own driving habits.

[0078] As an example, the steering characteristic parameter editing control may include 6 steering characteristic parameter options, namely 0, 1, 2, 3, 4 and 5. As the steering characteristic parameter gradually increases, the steering sensitivity of the vehicle gradually increases. That is, for the same steering angle of the target vehicle, the target driver's brake pedal pressure can be gradually reduced, that is, the brake pedal pressure depth gradually decreases.

[0079] For ease of understanding, the target vehicle is defined in the ISO coordinate system in this application. Figure 2 Schematic diagram of the ISO coordinate system direction definition of the target vehicle shown. +x represents the positive direction of the x-axis, +y represents the positive direction of the y-axis, +ω represents that the yaw angle is counterclockwise as the positive direction, and the lateral acceleration of the center of mass is to the left as the positive direction.

[0080] S102: Determine a target yaw rate of the target vehicle based on a ratio of a current longitudinal vehicle speed of the target vehicle to a target characteristic vehicle speed of the target vehicle.

[0081] The target characteristic vehicle speed of the target vehicle is determined based on the product of the target steering characteristic parameter and the actual characteristic vehicle speed of the target vehicle.

[0082] The actual characteristic speed of the target vehicle refers to the maximum speed that the target vehicle can reach under ideal conditions. The control systems such as AFS on the target vehicle usually calculate the target yaw rate based on the actual characteristic speed of the target vehicle. In this application, the target characteristic speed of the target vehicle is determined by introducing the target steering characteristic parameter based on the actual characteristic speed, so that the calculated target yaw rate is more in line with the driving habits of the target driver, thereby improving the maneuverability of the vehicle.

[0083] In a possible implementation of the present application, S101 may specifically include: obtaining the target steering characteristic parameter, the current longitudinal speed of the target vehicle, the actual characteristic speed of the target vehicle, the current steering wheel angle of the target vehicle, and the vehicle characteristic parameters of the target vehicle; the vehicle characteristic parameters of the target vehicle are used to characterize the hardware characteristics of the target vehicle. Among them, the vehicle characteristic parameters of the target vehicle may include but are not limited to the wheelbase of the target vehicle and the vehicle steering ratio of the target vehicle.

[0084] Correspondingly, S102 may specifically include: obtaining a first ratio based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle; multiplying the first ratio and the vehicle characteristic parameter of the target vehicle to obtain a first product; multiplying the current longitudinal speed of the target vehicle and the current steering wheel angle of the target vehicle to obtain a second product; and determining the target yaw angular velocity of the target vehicle based on the ratio of the second product to the first product.

[0085] It can be seen that when calculating the target yaw angle, considering the vehicle characteristic parameters of the target vehicle and the current driving data (ie, the current longitudinal vehicle speed and the current steering wheel angle) is conducive to calculating a more accurate target yaw rate.

[0086] In a possible implementation of the present application, the target characteristic speed of the target vehicle can be obtained by multiplying the target steering characteristic parameter, the characteristic speed coefficient of the target vehicle and the actual characteristic speed of the target vehicle to determine the target characteristic speed of the target vehicle.

[0087] Therefore, the characteristic speed coefficient of the target vehicle is introduced to control the calculated target characteristic speed within a certain range to avoid it being too different from the actual characteristic speed and deviating from the actual performance of the target vehicle.

[0088] As an example, the target characteristic speed of the target vehicle can be expressed by the following formula:

[0089]

[0090] Among them, u ch Indicates the actual characteristic speed of the target vehicle, u chΔ represents the target characteristic speed of the target vehicle, P represents the target steering characteristic parameter, and the range of P is [0, M], S max Indicates the maximum characteristic speed coefficient of the target vehicle, S min Indicates the minimum characteristic speed coefficient of the target vehicle. S max and S min The setting may be based on the characteristics of the target vehicle, and this application does not limit this. Based on the above example, if the range of P is [0, 5], then M in the above formula is 5.

[0091] As an example, the target yaw rate of the target vehicle can be expressed by the following formula:

[0092]

[0093] Among them, ω Est represents the target yaw rate of the target vehicle, u chΔ represents the target characteristic speed of the target vehicle, u represents the current longitudinal speed of the target vehicle, and δ SW represents the current steering wheel angle of the target vehicle, L represents the vehicle wheelbase of the target vehicle, and Ratio represents the vehicle steering ratio of the target vehicle.

[0094] In addition, considering that the target vehicle may have a lateral slope on the road, and the lateral slope may affect the target driver's handling stability of the target vehicle. Therefore, in order to improve the handling stability of the vehicle, in a possible implementation of the present application, the lateral control method of the vehicle may also include: obtaining the lateral slope of the road on which the target vehicle is located and the mass of the target vehicle; multiplying the lateral slope and the mass of the target vehicle to determine the target yaw angle compensation speed of the target vehicle; accordingly, S102 may specifically include: determining the expected yaw rate of the target vehicle based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle; adding the expected yaw rate of the target vehicle to the target yaw angle compensation speed to determine the target yaw rate of the target vehicle.

[0095] Therefore, when the target driver operates the target vehicle, the influence of the lateral slope of the road condition on which the target vehicle is located is taken into consideration, thereby improving the handling stability of the vehicle.

[0096] As an example, the target yaw rate of the target vehicle can also be expressed by the following formula:

[0097] ω Est =ω Est1 +ω Est2

[0098] Among them, ω Est represents the target yaw rate of the target vehicle, ω Est1 represents the desired yaw rate of the target vehicle, ω Est2 Indicates the target yaw compensation speed of the target vehicle.

[0099] Based on the above example, ω Est1 It can be expressed by the following formula:

[0100]

[0101] Among them, the meanings of the above formula parameters are the same as the same formula parameters in the above text, and will not be repeated here.

[0102] Therefore, on the basis of considering the driving habits of the target driver, the influence of the lateral slope of the road conditions on which the target vehicle is located on the lateral control is further considered to obtain a more accurate target yaw angular velocity, which further improves the handling stability of the target vehicle while improving the maneuverability.

[0103] In a possible implementation of the present application, the above-mentioned acquisition of the lateral slope of the road condition in which the target vehicle is located may specifically include: acquiring the predicted center of mass lateral acceleration of the target vehicle, the actual center of mass lateral acceleration of the target vehicle, and the roll angle of the target vehicle; subtracting the predicted center of mass lateral acceleration of the target vehicle from the actual center of mass lateral acceleration of the target vehicle to obtain an acceleration difference; subtracting the arcsine value of the acceleration difference from the roll angle of the target vehicle to obtain the lateral slope.

[0104] As an example, the predicted center of mass lateral acceleration can be obtained by a two-degree-of-freedom vehicle dynamics model of the target vehicle, which can be specifically expressed by the following formula:

[0105] a y =v′+u×ω=u×ω

[0106] Among them, a yrepresents the predicted lateral acceleration of the target vehicle’s center of mass, v represents the current speed of the target vehicle, v′ represents the derivative of the current speed of the target vehicle, u represents the current longitudinal speed of the target vehicle, and ω represents the current yaw rate of the target vehicle.

[0107] The actual center-of-mass lateral acceleration may be measured by a sensor of the target vehicle. For example, the sensor may be an inertial measuring unit (IMU), which is not limited in the present application.

[0108] Based on the predicted lateral acceleration of the center of mass calculated by the two-degree-of-freedom vehicle dynamics model, the actual lateral acceleration of the center of mass measured by the inertial sensor can be corrected to obtain a new predicted lateral acceleration of the center of mass. The predicted lateral acceleration of the center of mass can also be expressed by the following formula:

[0109]

[0110] Among them, a y represents the predicted lateral acceleration of the target vehicle’s center of mass, a yIMU It represents the actual lateral acceleration of the center of mass measured by the IMU sensor, g represents the acceleration due to gravity, represents the roll angle of the target vehicle, θ bank Indicates the lateral slope of the road conditions described by the target vehicle.

[0111] The above roll angle is the maximum angle between the body plane and the ground that the vehicle can withstand when the target vehicle turns sharply to one side at a certain speed and the body tilts (if the angle is greater than this, the vehicle will roll over). The roll angle of the target vehicle can be expressed by the following formula:

[0112]

[0113] in, represents the roll angle of the target vehicle, RG represents the center of mass roll gradient of the target vehicle, and a y Represents the predicted center-of-mass lateral acceleration of the target vehicle.

[0114] Based on the above three formulas, the lateral slope of the road condition described by the target vehicle can be expressed as follows:

[0115]

[0116] Therefore, when calculating the lateral slope of the road condition where the target vehicle is located based on the above formula, there is no need to add an additional sensor for measuring the lateral slope, thereby saving vehicle manufacturing costs.

[0117] In a possible implementation manner of the present application, the above-mentioned acquisition of the lateral slope of the road condition in which the target vehicle is located and the mass of the target vehicle may specifically include: acquiring the lateral slope of the road condition in which the target vehicle is located, the mass of the target vehicle, the current steering wheel angle of the target vehicle, the steering characteristic parameters of the target vehicle and the vehicle characteristic parameters of the target vehicle; accordingly, the above-mentioned multiplication of the lateral slope and the mass of the target vehicle to determine the target yaw angle compensation speed of the target vehicle can be specifically subdivided into the following steps: multiplying the lateral slope and the mass of the target vehicle to determine the target yaw angle compensation speed of the target vehicle The method comprises the following steps: obtaining a lateral slope component at the center of mass of the target vehicle; obtaining a second ratio based on the ratio of the steering characteristic parameter of the target vehicle to the current steering wheel angle of the target vehicle; multiplying the desired yaw velocity of the target vehicle by the second ratio to determine the yaw velocity gain of the target vehicle; the desired yaw velocity of the target vehicle is determined based on the ratio of the current longitudinal vehicle speed of the target vehicle to the target characteristic vehicle speed of the target vehicle; multiplying the lateral slope component at the center of mass of the target vehicle, the vehicle characteristic parameter of the target vehicle and the yaw velocity gain of the target vehicle to determine the target yaw angle compensation speed of the target vehicle.

[0118] Among them, the lateral slope component of the center of mass of the target vehicle is usually expressed as mgsinθ bank , but considering that the transverse slope is usually a small value in practical applications, mgsinθ bank It can be approximated by mgθ bank .

[0119] As an example, the target yaw angle compensation speed of the target vehicle can be expressed by the following formula:

[0120]

[0121] Among them, ω Est2 represents the target yaw angle compensation speed, a represents the horizontal distance between the front axle and the center of mass of the target vehicle, b represents the horizontal distance between the rear axle and the center of mass of the target vehicle, k1 represents the front wheel cornering stiffness of the target vehicle, k2 represents the rear wheel cornering stiffness of the target vehicle, mgθ bank represents the lateral slope component of the target vehicle’s center of mass, ω Gain It is represented as the yaw rate gain of the target vehicle. Wherein, a, b, k1 and k2 are the vehicle characteristic parameters of the target vehicle mentioned above.

[0122] The yaw rate gain of the target vehicle can be expressed by the following formula:

[0123]

[0124] Among them, ωGain Expressed as the yaw rate gain of the target vehicle, ω Est1 represents the expected yaw rate of the target vehicle, which can be specifically referred to in the formula mentioned above, Ratio represents the vehicle steering ratio of the target vehicle (i.e., the steering characteristic parameter of the target vehicle mentioned above), δ SW Represented as the current steering wheel angle of the target vehicle.

[0125] Then the target yaw rate of the target vehicle can be expressed by the following formula:

[0126]

[0127] The meaning of the parameters can be found in the above examples, and this application will not go into details here.

[0128] S103: Based on the target yaw angular velocity, control the wheels of the target vehicle to steer.

[0129] In a possible implementation of the present application, S103 may specifically include: performing feedforward control on the wheel steering of the target vehicle based on the target yaw angular velocity, and performing feedback control on the wheel steering of the target vehicle based on the target yaw angular velocity, the current yaw angular velocity of the target vehicle and the yaw angular velocity of the target vehicle at the kth sampling moment, and outputting the target wheel angle value of the target vehicle; k is an integer greater than 0; inputting the target wheel angle value into the wheel steering actuator of the target vehicle to control the wheels of the target vehicle to steer.

[0130] As an example, the wheel steering of the target vehicle can be feedback controlled by a PID controller, and the target wheel steering angle value can be specifically expressed by the following formula:

[0131]

[0132] ×(ω Err,k -2ω Err,k-1 +ω Err,k-2 )

[0133] Among them, δ F Expressed as the target wheel angle value, ω Err,k represents the yaw rate error at time k, ω Err,k-1 represents the yaw rate error at time k-1, ω Err,k-2 represents the yaw rate error at time k-2, K p , K i and K d are the coefficients of the PID controller respectively.

[0134] It can be seen that feedforward control and incremental PID feedback control are performed on the target yaw rate of the target vehicle, which simplifies the complexity of the algorithm, improves the real-time performance and reliability of the algorithm, and further ensures the driver's control over the vehicle.

[0135] In addition, in order to improve the driving safety of the target driver when the target vehicle is in a bad working condition such as vehicle skidding, the lateral control method of the vehicle may also include: obtaining the wheel speed difference between the left wheel speed of the target vehicle and the right wheel speed of the target vehicle, and the current brake pedal depression depth of the target vehicle; accordingly, S102 may specifically include: if the wheel speed difference is less than or equal to the wheel speed difference threshold, or the current brake pedal depression depth is less than or equal to the depression depth threshold, then based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle, determine the target yaw angular velocity of the target vehicle; if the wheel speed difference is greater than the wheel speed difference threshold, and the current brake pedal depression depth is greater than the depression depth threshold, then determine the preset yaw angular velocity as the target yaw angular velocity of the target vehicle. Wherein, the preset yaw angular velocity may be 0, which is not limited in this application.

[0136] Based on the wheel speed difference and the current brake pedal depression depth of the target vehicle, it is judged whether the vehicle is in a severe working condition or a normal working condition. Under severe working conditions, a preset yaw rate such as 0 can be directly determined as the target yaw rate of the target vehicle. Under normal working conditions, the target yaw rate of the target vehicle can be determined based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle.

[0137] If the wheel speed difference is greater than the wheel speed difference threshold, it means that the target vehicle may be in a state of severe skidding; if the current brake pedal depression depth is greater than the depression depth threshold, it means that the driver has depressed the brake pedal to a certain depth, which may be a strong defensive behavior of the driver after sensing the instability of the target vehicle, that is, the driver is likely to turn the steering wheel quickly and significantly to keep the target vehicle stable. In this case, the driver has high requirements on the real-time control and effect of the target vehicle in a severe working condition, and the AFS can take over directly to further improve the handling stability of the target vehicle and enhance the driving safety of the driver.

[0138] In the related technologies, most of the research on vehicle handling stability control focuses on the research of complex algorithms, such as MPC, LQR, etc. Although good control effects can be obtained in theory, the requirements for controllers and observations are high, and it is difficult to quickly apply them to engineering practice. However, the consideration of lateral slope and harsh working conditions in this application does not require complex algorithms, but only requires simple calculations, which reduces the requirements for the controller and observations of the target vehicle and can be quickly applied to engineering practice.

[0139] As an example, see Figure 3 A flow chart of a specific vehicle lateral control method is shown. Figure 3 As shown, the specific vehicle lateral control method may include the following steps:

[0140] S301: Determine yaw angular velocity error ω Err Is it greater than the yaw angular velocity threshold ω? inThr , and whether the center of mass sideslip angle β is greater than the center of mass sideslip angle threshold β inThr .

[0141] S302: If yes, activate the AFS function.

[0142] S303: If no, then do not activate the AFS function

[0143] S304: Determine the left wheel speed u of the target vehicle whl and the right wheel speed u of the target vehicle whr Is the wheel speed difference between the two greater than the wheel speed difference threshold u whThr , and judge the current brake pedal depression depth D brk Is it greater than the pressure depth threshold D? brkThr .

[0144] S305: If yes, activate the severe operating mode of the target vehicle, so that the AFS takes over the target vehicle and determines the target yaw rate of the target vehicle to be 0.

[0145] S306: If not, activating the normal operating mode of the target vehicle so that the AFS assists the target vehicle.

[0146] S307: Calculate the expected yaw rate of the target vehicle based on the target steering characteristic parameter.

[0147] S308: Calculate a target yaw angle compensation speed based on the lateral slope of the target vehicle.

[0148] S309: Adding the desired yaw rate of the target vehicle to the target yaw compensation rate, the target yaw rate of the target vehicle.

[0149] S310: Outputting a target wheel angle value of the target vehicle based on the target yaw angular velocity of the target vehicle, and controlling the wheels of the target vehicle to steer.

[0150] Among them, the specific implementation method of the above S301-S310 can refer to the specific implementation method of the above S201-S203, which will not be repeated here.

[0151] In order to demonstrate the beneficial effects of the vehicle lateral control method provided in the present application, the present application has conducted comparative verification.

[0152] As an example, see Figure 4 , which is a schematic diagram of a target vehicle in a bad working condition provided by an embodiment of the present application, showing a comparison of the lateral displacement of the target vehicle with and without AFS control. Figure 4 As shown, if the AFS function is not used under severe working conditions, the lateral offset value of the target vehicle gradually increases, indicating that the target vehicle may slip and cause danger. However, if the method provided by the embodiment of the present application is used for lateral control under severe working conditions, the lateral offset value is close to 0, which can prevent the vehicle from slipping and improve driving safety.

[0153] As an example, see Figure 5 , which is a schematic diagram of a comparison of target yaw angular velocities obtained when the target steering characteristic parameter is different values ​​provided by an embodiment of the present application. Figure 5 As shown, the target yaw angular velocity calculated by different target steering characteristic parameters is different, which can fit the driving habits of different drivers and improve the driver's maneuverability of the vehicle.

[0154] As an example, see Figure 6 , which is a schematic diagram of a comparison of steering wheel angles obtained when the target steering characteristic parameter is different in value provided by an embodiment of the present application. Figure 6 As shown, the steering wheel angles obtained by different target steering characteristic parameters are different, that is, the steering sensitivities are different, which can fit the driving habits of different drivers and improve the driver's maneuverability of the vehicle.

[0155] As an example, see Figure 7 , which is a schematic diagram of the control effect of AFS control on a target vehicle under normal working conditions provided by an embodiment of the present application. Figure 7 As shown, through feedforward and incremental PID feedback control, the actual yaw rate of the target vehicle and the calculated target yaw rate are less different, which improves the real-time and reliability of the algorithm and ensures the maneuverability of the vehicle.

[0156] The above are some specific implementations of the lateral control method of the vehicle provided in the embodiment of the present application. Based on this, the present application also provides a corresponding lateral control device for the vehicle. The lateral control device for the vehicle provided in the embodiment of the present application will be introduced from the perspective of functional modularization.

[0157] See also Figure 8 , which is a schematic diagram of the structure of a lateral control device for a vehicle provided in an embodiment of the present application, and the lateral control device 800 for the vehicle may include:

[0158] An acquisition module 810 is used to acquire a target steering characteristic parameter, a current longitudinal speed of the target vehicle, and an actual characteristic speed of the target vehicle; the target steering characteristic parameter is used to characterize the driving characteristics of a target driver driving the target vehicle; and the target steering characteristic parameter is positively correlated with the steering sensitivity of the target vehicle;

[0159] A determination module 820, configured to determine a target yaw rate of the target vehicle based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle; the target characteristic speed of the target vehicle is determined based on a product of the target steering characteristic parameter and an actual characteristic speed of the target vehicle;

[0160] The control module 830 is used to control the wheels of the target vehicle to steer based on the target yaw angular velocity.

[0161] As an implementation manner, the acquisition module 810 is specifically configured to:

[0162] Acquire the target steering characteristic parameter, the current longitudinal speed of the target vehicle, the actual characteristic speed of the target vehicle, the current steering wheel angle of the target vehicle, and the vehicle characteristic parameters of the target vehicle; the vehicle characteristic parameters of the target vehicle are used to characterize the hardware characteristics of the target vehicle;

[0163] Accordingly, the determination module 820 is specifically configured to:

[0164] Obtaining a first ratio based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle;

[0165] Multiplying the first ratio and the vehicle characteristic parameter of the target vehicle to obtain a first product;

[0166] Multiplying the current longitudinal speed of the target vehicle and the current steering wheel angle of the target vehicle to obtain a second product;

[0167] A target yaw rate of the target vehicle is determined based on a ratio of the second product to the first product.

[0168] As an implementation manner, the target characteristic speed of the target vehicle is obtained by the following units:

[0169] The determination unit is used to multiply the target steering characteristic parameter, the characteristic vehicle speed coefficient of the target vehicle and the actual characteristic vehicle speed of the target vehicle to determine the target characteristic vehicle speed of the target vehicle.

[0170] As an implementation mode, the target vehicle includes a steering characteristic parameter editing control and an acquisition module, which are specifically used for:

[0171] In response to the target driver's editing operation on the steering characteristic parameter editing control, the target steering characteristic parameter is acquired.

[0172] As an implementation manner, the lateral control device 800 of the vehicle may further include:

[0173] A road condition and vehicle mass acquisition module, used for the lateral slope of the road condition where the target vehicle is located and the mass of the target vehicle;

[0174] a speed determination module, configured to multiply the lateral slope and the mass of the target vehicle to determine a target yaw angle compensation speed of the target vehicle;

[0175] Accordingly, the determination module 820 is specifically configured to:

[0176] determining a desired yaw rate of the target vehicle based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle;

[0177] The desired yaw rate of the target vehicle is added to the target yaw compensation rate to determine a target yaw rate of the target vehicle.

[0178] As an implementation method, the road condition and vehicle quality acquisition module is specifically used to:

[0179] Obtaining the predicted center-of-mass lateral acceleration of the target vehicle, the actual center-of-mass lateral acceleration of the target vehicle, and the roll angle of the target vehicle;

[0180] Subtracting the predicted center-of-mass lateral acceleration of the target vehicle from the actual center-of-mass lateral acceleration of the target vehicle to obtain an acceleration difference;

[0181] The arc sine value of the acceleration difference is subtracted from the roll angle of the target vehicle to obtain the lateral slope.

[0182] As an implementation method, the road condition and vehicle quality acquisition module is specifically used to:

[0183] Acquire the lateral slope of the road condition where the target vehicle is located, the mass of the target vehicle, the current steering wheel angle of the target vehicle, the steering characteristic parameters of the target vehicle, and the vehicle characteristic parameters of the target vehicle;

[0184] Accordingly, the speed determination module is specifically used for:

[0185] Multiplying the transverse slope by the mass of the target vehicle to determine a transverse slope component of the center of mass of the target vehicle;

[0186] Obtaining a second ratio based on a ratio of the steering characteristic parameter of the target vehicle to a current steering wheel angle of the target vehicle;

[0187] The desired yaw rate of the target vehicle is multiplied by the second ratio to determine a yaw rate gain of the target vehicle; the desired yaw rate of the target vehicle is determined based on the ratio of the current longitudinal vehicle speed of the target vehicle to the target characteristic vehicle speed of the target vehicle;

[0188] The target yaw angle compensation speed of the target vehicle is determined by multiplying the mass center lateral slope component of the target vehicle, the vehicle characteristic parameter of the target vehicle, and the yaw rate gain of the target vehicle.

[0189] As an implementation manner, the lateral control device 800 of the vehicle may further include:

[0190] A wheel speed difference and depression depth acquisition module, used to acquire the wheel speed difference between the left wheel speed of the target vehicle and the right wheel speed of the target vehicle, and the current brake pedal depression depth of the target vehicle;

[0191] Accordingly, the modules are determined, specifically for:

[0192] If the wheel speed difference is less than or equal to the wheel speed difference threshold, or the current brake pedal depression depth is less than or equal to the depression depth threshold, determining a target yaw rate of the target vehicle based on a ratio of the current longitudinal vehicle speed of the target vehicle to a target characteristic vehicle speed of the target vehicle;

[0193] If the wheel speed difference is greater than the wheel speed difference threshold, and the current brake pedal depression depth is greater than the depression depth threshold, a preset yaw rate is determined as the target yaw rate of the target vehicle.

[0194] Accordingly, as an implementation mode, it is specifically used for:

[0195] Performing feedforward control on the wheel steering of the target vehicle based on the target yaw angular velocity, and performing feedback control on the wheel steering of the target vehicle based on the target yaw angular velocity, the current yaw angular velocity of the target vehicle and the yaw angular velocity of the target vehicle at the kth sampling moment, and outputting a target wheel steering angle value of the target vehicle; wherein k is an integer greater than 0;

[0196] The target wheel angle value is input into the wheel steering actuator of the target vehicle to control the wheels of the target vehicle to steer.

[0197] The embodiments of the present application also provide a corresponding vehicle lateral control device and a computer-readable storage medium for implementing the solution provided in the embodiments of the present application.

[0198] Among them, the vehicle's lateral control device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program, so that the device executes the vehicle's lateral control method described in any embodiment of the present application.

[0199] The computer-readable storage medium stores a computer program. When the computer program is executed, a device executing the computer program implements the lateral control method of a vehicle described in any embodiment of the present application.

[0200] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0201] Through the description of the above implementation methods, it can be known that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a general hardware platform. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a readable storage medium, such as a read-only memory (ROM) / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network communication device such as a router) to execute the methods described in each embodiment of the present application or some parts of the embodiments.

[0202] It should be noted that the various embodiments in this specification are described in a progressive manner, and the same and similar parts between the various embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, in which the units described as separate components may or may not be physically separated, and the components indicated as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0203] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A lateral control method for a vehicle, characterized in that: The method comprises: Acquiring a target steering characteristic parameter, a current longitudinal speed of the target vehicle, and an actual characteristic speed of the target vehicle; the target steering characteristic parameter is used to characterize the driving characteristics of a target driver driving the target vehicle; and the target steering characteristic parameter is positively correlated with the steering sensitivity of the target vehicle; Determining a target yaw rate of the target vehicle based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle; the target characteristic speed of the target vehicle is determined based on a product of the target steering characteristic parameter and an actual characteristic speed of the target vehicle; Based on the target yaw rate, the wheels of the target vehicle are controlled to steer.

2. The method according to claim 1, characterized in that The acquiring of the target steering characteristic parameter, the current longitudinal speed of the target vehicle and the actual characteristic speed of the target vehicle specifically includes: Acquire the target steering characteristic parameter, the current longitudinal speed of the target vehicle, the actual characteristic speed of the target vehicle, the current steering wheel angle of the target vehicle, and the vehicle characteristic parameters of the target vehicle; the vehicle characteristic parameters of the target vehicle are used to characterize the hardware characteristics of the target vehicle; The determining the target yaw rate of the target vehicle based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle specifically includes: Obtaining a first ratio based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle; Multiplying the first ratio and the vehicle characteristic parameter of the target vehicle to obtain a first product; Multiplying the current longitudinal speed of the target vehicle and the current steering wheel angle of the target vehicle to obtain a second product; A target yaw rate of the target vehicle is determined based on a ratio of the second product to the first product.

3. The method according to claim 2, characterized in that The target characteristic speed of the target vehicle is obtained by: The target steering characteristic parameter, the characteristic vehicle speed coefficient of the target vehicle and the actual characteristic vehicle speed of the target vehicle are multiplied to determine the target characteristic vehicle speed of the target vehicle.

4. The method according to any one of claims 1 to 3, characterized in that: The target vehicle includes a steering characteristic parameter editing control, and the step of obtaining the target steering characteristic parameter specifically includes: In response to the target driver's editing operation on the steering characteristic parameter editing control, the target steering characteristic parameter is acquired.

5. The method according to claim 1, characterized in that The method further comprises: Obtaining the lateral slope of the road condition on which the target vehicle is located and the mass of the target vehicle; Multiplying the lateral slope and the mass of the target vehicle to determine a target yaw angle compensation speed of the target vehicle; The determining the target yaw rate of the target vehicle based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle specifically includes: determining a desired yaw rate of the target vehicle based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle; The desired yaw rate of the target vehicle is added to the target yaw compensation rate to determine a target yaw rate of the target vehicle.

6. The method according to claim 5, characterized in that The step of obtaining the lateral slope of the road condition where the target vehicle is located specifically includes: Obtaining the predicted center-of-mass lateral acceleration of the target vehicle, the actual center-of-mass lateral acceleration of the target vehicle, and the roll angle of the target vehicle; Subtracting the predicted center-of-mass lateral acceleration of the target vehicle from the actual center-of-mass lateral acceleration of the target vehicle to obtain an acceleration difference; The arc sine value of the acceleration difference is subtracted from the roll angle of the target vehicle to obtain the lateral slope.

7. The method according to claim 5, characterized in that The obtaining of the lateral slope of the road condition where the target vehicle is located and the mass of the target vehicle specifically includes: Acquire the lateral slope of the road condition where the target vehicle is located, the mass of the target vehicle, the current steering wheel angle of the target vehicle, the steering characteristic parameters of the target vehicle, and the vehicle characteristic parameters of the target vehicle; The step of multiplying the lateral slope and the mass of the target vehicle to determine a target yaw angle compensation speed of the target vehicle specifically includes: Multiplying the transverse slope by the mass of the target vehicle to determine a transverse slope component of the center of mass of the target vehicle; Obtaining a second ratio based on a ratio of the steering characteristic parameter of the target vehicle to a current steering wheel angle of the target vehicle; The desired yaw rate of the target vehicle is multiplied by the second ratio to determine a yaw rate gain of the target vehicle; the desired yaw rate of the target vehicle is determined based on the ratio of the current longitudinal vehicle speed of the target vehicle to the target characteristic vehicle speed of the target vehicle; The target yaw angle compensation speed of the target vehicle is determined by multiplying the mass center lateral slope component of the target vehicle, the vehicle characteristic parameter of the target vehicle, and the yaw rate gain of the target vehicle.

8. The method according to claim 1, characterized in that The method further comprises: Acquire a wheel speed difference between a left wheel speed of the target vehicle and a right wheel speed of the target vehicle, and a current brake pedal depression depth of the target vehicle; The determining the target yaw rate of the target vehicle based on the ratio of the current longitudinal speed of the target vehicle to the target characteristic speed of the target vehicle specifically includes: If the wheel speed difference is less than or equal to the wheel speed difference threshold, or the current brake pedal depression depth is less than or equal to the depression depth threshold, determining a target yaw rate of the target vehicle based on a ratio of the current longitudinal vehicle speed of the target vehicle to a target characteristic vehicle speed of the target vehicle; If the wheel speed difference is greater than the wheel speed difference threshold, and the current brake pedal depression depth is greater than the depression depth threshold, a preset yaw rate is determined as the target yaw rate of the target vehicle.

9. The method according to claim 1, characterized in that: The controlling the wheels of the target vehicle to steer based on the target yaw angular velocity specifically includes: Performing feedforward control on the wheel steering of the target vehicle based on the target yaw angular velocity, and performing feedback control on the wheel steering of the target vehicle based on the target yaw angular velocity, the current yaw angular velocity of the target vehicle and the yaw angular velocity of the target vehicle at the kth sampling moment, and outputting a target wheel steering angle value of the target vehicle; wherein k is an integer greater than 0; The target wheel angle value is input into the wheel steering actuator of the target vehicle to control the wheels of the target vehicle to steer.

10. A lateral control device for a vehicle, characterized in that: The device comprises: an acquisition module, used for acquiring a target steering characteristic parameter, a current longitudinal speed of the target vehicle and an actual characteristic speed of the target vehicle; the target steering characteristic parameter is used for characterizing the driving characteristics of a target driver driving the target vehicle; the target steering characteristic parameter is positively correlated with the steering sensitivity of the target vehicle; a determination module, configured to determine a target yaw rate of the target vehicle based on a ratio of a current longitudinal speed of the target vehicle to a target characteristic speed of the target vehicle; the target characteristic speed of the target vehicle being determined based on a product of the target steering characteristic parameter and an actual characteristic speed of the target vehicle; A control module is used to control the wheels of the target vehicle to steer based on the target yaw angular velocity.

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