METHOD, DEVICE, ELECTRONIC EQUIPMENT AND MEDIA FOR TRANSVERSE CONTROL OF A VEHICLE

Claims

1. One method of lateral control of a vehicle, including obtaining data from on-board vehicle sensors, vehicle parameters, radius of curvature of the target trajectory and wheelbase; Calculate the turning angle based on the radius of curvature and wheelbase; calculation of lateral slip angles of the front and rear wheels based on data from on-board sensors and vehicle parameters; Calculation of the front wheel steering angle based on the steering angle, the front wheel slip angle and the rear wheel slip angle, and control of the vehicle based on the obtained front wheel steering angle.

2. The method of lateral control of a vehicle according to paragraph 1, wherein obtaining the steering angle of the front wheels based on the said steering angle, the lateral slip angle of the front wheels and the lateral slip angle of the rear wheels involves calculating the steering angle of the front wheels by subtracting the lateral slip angle of the rear wheels from the sum of the steering angle and the lateral slip angle of the front wheels.

3. The method of lateral control of a vehicle according to paragraph 2, wherein the calculation of the lateral slip angles of the front and rear wheels based on the data from on-board sensors and vehicle parameters provides for determination of lateral forces on the front and rear tires based on the body mass, lateral acceleration, yaw rate and radius of curvature; Calculation of the front wheel slip angle based on the lateral force on the front tire and the front wheel slip stiffness, and calculation of the rear wheel slip angle based on the lateral force on the rear tire and the rear wheel slip stiffness.

4. The method of lateral control of a vehicle according to paragraph 2, wherein the calculation of the steering angle of the front wheels by subtracting the lateral slip angle of the rear wheels from the sum of the steering angle and the lateral slip angle of the front wheels provides for where δ is the turning angle of the front wheels; α f - lateral slip angle of the front wheels; α r - rear wheel slip angle; C αf - the rigidity of the lateral slip of the front wheels; C αr - rigidity of lateral slip of the rear wheels; F yf - lateral force on the front wheels; F yr - lateral force on the rear wheels; l f - front track; l r - rear track; I z - moment of inertia of the vehicle; - yaw rate; m - body weight; v x - current speed of the vehicle; R - radius of curvature; - lateral acceleration, Vehicle parameters include, at a minimum, body mass, front and rear wheel slip stiffness, center of mass position, and vehicle moment of inertia; onboard sensor data include, at a minimum, current vehicle speed, lateral acceleration, and yaw rate.

5. The method of lateral control of a vehicle according to paragraph 1, wherein after receiving data from on-board sensors, vehicle parameters, the radius of curvature of the target trajectory and the wheelbase, additionally provides for: obtaining the activation status of the vehicle's lateral control function; if the lateral control function is activated, compare the curvature radius with the specified threshold radius; if the specified radius of curvature is greater than the specified threshold radius, it is considered that the vehicle is on a straight section of the road and lateral control is not required; If the specified radius of curvature is less than the specified threshold radius, the vehicle is controlled based on the steering angle of the front wheels.

6. The method of lateral control of a vehicle according to paragraph 1, wherein control of the vehicle based on the specified angle of rotation of the front wheels provides for determining the steering angle based on the front wheel turning angle and a given angle conversion table; determining the control angle after filtering the steering angle, controlling the vehicle based on the specified control angle.

7. The method of lateral control of a vehicle according to paragraph 6, wherein control of the vehicle based on the specified control angle provides for Calculating the current steering angle of the vehicle; determining the deflection angle based on the specified current steering angle of the vehicle and the specified control angle; The feedback controller checks the deviation angle, and the vehicle is controlled according to the output angle of the feedback controller; Repeat the above steps until the yaw angle becomes less than the set threshold angle, thereby completing the lateral control of the vehicle.

8. One device for lateral control of a vehicle, including information receiving unit: designed to collect data from on-board vehicle sensors, vehicle parameters, the radius of curvature of the target trajectory and wheelbase; Steering Angle Calculator: Calculates the steering angle based on the radius of curvature and wheelbase; Lateral slip angle calculation unit: determines the lateral slip angles of the front and rear wheels based on data from on-board sensors and vehicle parameters; Control unit: designed to determine the turning angle of the front wheels based on the turning angle, the lateral slip angles of the front and rear wheels, and to control the vehicle based on the obtained turning angle of the front wheels.

9. A device for lateral control of a vehicle according to paragraph 8, wherein obtaining the steering angle of the front wheels based on the said steering angle, the lateral slip angle of the front wheels and the lateral slip angle of the rear wheels involves calculating the steering angle of the front wheels by subtracting the lateral slip angle of the rear wheels from the sum of the steering angle and the lateral slip angle of the front wheels.

10. A device for lateral control of a vehicle according to paragraph 9, wherein the calculation of the lateral slip angles of the front and rear wheels based on the data from on-board sensors and vehicle parameters provides for determination of lateral forces on the front and rear tires based on the body mass, lateral acceleration, yaw rate and radius of curvature; Calculation of the front wheel slip angle based on the lateral force on the front tire and the front wheel slip stiffness, and calculation of the rear wheel slip angle based on the lateral force on the rear tire and the rear wheel slip stiffness.

11. A device for lateral control of a vehicle according to paragraph 9, wherein the calculation of the steering angle of the front wheels by subtracting the lateral slip angle of the rear wheels from the sum of the steering angle and the lateral slip angle of the front wheels provides for where δ is the turning angle of the front wheels; α f - lateral slip angle of the front wheels; α r - rear wheel slip angle; C αf - the rigidity of the lateral slip of the front wheels; C αr - rigidity of lateral slip of the rear wheels; F yf - lateral force on the front wheels; F yr- lateral force on the rear wheels; l f - front track; l r - rear track; l z - moment of inertia of the vehicle; - yaw rate; m - body weight; v х - current speed of the vehicle; R - radius of curvature; - lateral acceleration; The vehicle parameters include, at a minimum, the body mass, the front and rear wheel slip stiffness, the position of the center of mass and the moment of inertia of the vehicle, the on-board sensor data includes, at a minimum, the current speed, lateral acceleration and yaw rate of the vehicle.

12. The device for lateral control of a vehicle according to paragraph 8, wherein after receiving data from on-board sensors, vehicle parameters, the radius of curvature of the target trajectory and the wheelbase, it additionally provides: obtaining the activation status of the vehicle's lateral control function; if the lateral control function is activated, compare the curvature radius with the specified threshold radius; If the specified radius of curvature is greater than the specified threshold radius, the vehicle is considered to be on a straight section of the road and lateral control is not required; If the specified radius of curvature is less than the specified threshold radius, the vehicle is controlled based on the steering angle of the front wheels.

13. A device for lateral control of a vehicle according to paragraph 8, wherein control of the vehicle based on the specified angle of rotation of the front wheels provides for determining the steering angle based on the front wheel turning angle and a given angle conversion table; determining the control angle after filtering the steering angle, controlling the vehicle based on the specified control angle.

14. A device for lateral control of a vehicle according to paragraph 13, wherein control of the vehicle based on the specified control angle provides for Calculating the current steering angle of the vehicle; determining the deflection angle based on the specified current steering angle of the vehicle and the specified control angle; The feedback controller checks the deviation angle, and the vehicle is controlled according to the output angle of the feedback controller; Repeat the above steps until the yaw angle becomes less than the set threshold angle, thereby completing the lateral control of the vehicle.

15. One electronic device including one or more processors; storage device: designed to store one or more programs; when one or more programs are executed by one or more processors, the said electronic device implements the method of lateral control of the vehicle according to any of paragraphs 1-7.

16. One machine-readable data carrier on which computer instructions are recorded: when executed by a computer processor, the method of lateral control of a vehicle according to any of paragraphs 1-7 is implemented.