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CN-122009243-A - Vehicle transverse control method and device, electronic equipment and vehicle

CN122009243ACN 122009243 ACN122009243 ACN 122009243ACN-122009243-A

Abstract

The application provides a transverse control method and device of a vehicle, electronic equipment and the vehicle, wherein the method comprises the steps of obtaining front road surface state information of the vehicle; and determining a target moment and a target steering angle based on the current speed of the vehicle, the current running track and the target smooth running track, and generating a transverse control instruction according to the target moment and the target steering angle to transversely control the vehicle according to the transverse control instruction. After the front bump area is identified, the lane line and the bump geometric boundary are fused to generate a target smooth running track, and the target steering angle and the compensation moment are dynamically determined by combining the current speed and the track to generate a transverse control instruction, so that the vehicle can be controlled to stably and smoothly pass through the bump area based on the transverse control instruction, and the comfort and the safety of automatic driving transverse control are improved.

Inventors

  • WANG SHI
  • WANG LIGUO
  • WANG XIANG

Assignees

  • 广州汽车集团股份有限公司

Dates

Publication Date
20260512
Application Date
20260325

Claims (9)

  1. 1. A lateral control method of a vehicle, characterized by comprising the steps of: acquiring front road surface state information of a vehicle; Generating a target smooth running track according to the target bump area and a lane line where the vehicle is located when the target bump area is identified based on the front road surface state information; And determining a target moment and a target steering angle based on the current speed, the current running track and the target smooth running track of the vehicle, and generating a transverse control instruction according to the target moment and the target steering angle so as to transversely control the vehicle according to the transverse control instruction.
  2. 2. The method of claim 1, wherein the generating a target smooth travel trajectory from the target jounce region and a lane line in which the vehicle is located comprises: Identifying the geometric boundary of the target bump area, and generating a virtual lane line according to the intersection point of the geometric boundary of the target bump area and the lane line where the vehicle is located; and carrying out same curvature optimization on the virtual lane lines based on the curvature and the confidence of the adjacent lane lines to obtain the target smooth running track.
  3. 3. The method of claim 1, wherein the determining a target torque and a target steering angle based on the current vehicle speed, the current travel track, and the target smooth travel track comprises: determining a compensation torque of the vehicle based on the current vehicle speed, and determining the target torque according to the compensation torque and the current torque of the vehicle; And determining the target steering angle based on the current running track and the target smooth running track.
  4. 4. A method according to claim 3, wherein said determining a compensation torque for said vehicle based on said current vehicle speed comprises: Constructing a mapping relation between the running speed of the vehicle and the compensation moment; And matching the compensation moment corresponding to the current vehicle speed based on the current vehicle speed and the mapping relation.
  5. 5. The method according to claim 1, characterized by further comprising, after the vehicle is laterally controlled according to the lateral control instruction: Acquiring a driving distance after the vehicle passes through the target bump area; and if the running distance is greater than the preset distance, controlling the vehicle to maintain the original running track.
  6. 6. A lateral control device of a vehicle, characterized by comprising: The acquisition module is used for acquiring the front road surface state information of the vehicle; The generation module is used for generating a target smooth running track according to the target bump area and a lane line where the vehicle is located when the target bump area is identified based on the front road surface state information; and the control module is used for determining a target moment and a target steering angle based on the current speed, the current running track and the target smooth running track of the vehicle, and generating a transverse control instruction according to the target moment and the target steering angle so as to transversely control the vehicle according to the transverse control instruction.
  7. 7. An electronic device comprising a processor and a memory, wherein, A memory for storing a computer program; A processor for executing a program stored on a memory, implementing the method of any one of claims 1-5.
  8. 8. A vehicle comprising the electronic device of claim 7.
  9. 9. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program which, when executed by a processor, implements the method of any of claims 1-5.

Description

Vehicle transverse control method and device, electronic equipment and vehicle Technical Field The present application relates to the field of vehicle technologies, and in particular, to a vehicle lateral control method and apparatus, an electronic device, and a vehicle. Background With the rapid development of automatic driving technology, the smoothness and comfort of vehicle transverse control have become one of the key indexes for measuring the performance of an automatic driving system, and on a structured road, when a vehicle runs in an uneven road surface area, the problems of track tracking disturbance, track planning blind areas, insufficient response of an actuator and the like are often faced. In the related art, a road bump level is judged by monitoring a change in vehicle speed, and a reverse moment opposite to the steering wheel rotation angle direction is applied to suppress a shift after a bump is detected. However, when the steering wheel passes through a bumpy road, the steering wheel is prone to unexpected shaking, so that smoothness of transverse control is affected, and the problem needs to be solved. Disclosure of Invention The application provides a transverse control method and device of a vehicle, electronic equipment and the vehicle, and aims to solve the technical problem that unexpected shaking of a steering wheel caused by road impact cannot be effectively restrained when an automatic driving system in the related art passes through a bumpy road surface, so that transverse control smoothness is affected. An embodiment of a first aspect of the present application provides a lateral control method of a vehicle, including the steps of: acquiring front road surface state information of a vehicle; Generating a target smooth running track according to the target bump area and a lane line where the vehicle is located when the target bump area is identified based on the front road surface state information; And determining a target moment and a target steering angle based on the current speed, the current running track and the target smooth running track of the vehicle, and generating a transverse control instruction according to the target moment and the target steering angle so as to transversely control the vehicle according to the transverse control instruction. According to the technical scheme, after the front bump area is identified, the lane line and the bump geometric boundary are fused to generate the target smooth running track, and the target steering angle and the compensation moment are dynamically determined by combining the current speed and the track to generate the transverse control command, so that the vehicle can be controlled to stably and smoothly pass through the bump area based on the transverse control command, the comfort and the safety of automatic driving transverse control are improved, and the technical problems of steering wheel shake, track deviation and transverse control instability caused by lack of cooperative control of track correction and moment compensation of an automatic driving system in the related technology on a bump road surface are solved. An embodiment of a second aspect of the present application provides a lateral control device of a vehicle, including: The acquisition module is used for acquiring the front road surface state information of the vehicle; The generation module is used for generating a target smooth running track according to the target bump area and a lane line where the vehicle is located when the target bump area is identified based on the front road surface state information; and the control module is used for determining a target moment and a target steering angle based on the current speed, the current running track and the target smooth running track of the vehicle, and generating a transverse control instruction according to the target moment and the target steering angle so as to transversely control the vehicle according to the transverse control instruction. An embodiment of a third aspect of the present application provides an electronic device, comprising a processor and a memory, wherein, A memory for storing a computer program; a processor, configured to execute a program stored in the memory, and implement the method according to any one of the foregoing embodiments. An embodiment of a fourth aspect of the present application provides a vehicle including the electronic device described above. An embodiment of a fifth aspect of the present application provides a computer-readable storage medium having stored therein a computer program which, when executed by a processor, implements a method as in any of the above embodiments. Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application. Drawings The foregoing and/or additional aspects and advantages of the a