CN105015550B - The zig zag determination methods and based reminding method of vehicle traveling - Google Patents
The zig zag determination methods and based reminding method of vehicle traveling Download PDFInfo
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- CN105015550B CN105015550B CN201510444608.8A CN201510444608A CN105015550B CN 105015550 B CN105015550 B CN 105015550B CN 201510444608 A CN201510444608 A CN 201510444608A CN 105015550 B CN105015550 B CN 105015550B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
Abstract
A kind of zig zag determination methods of vehicle traveling, belong to car networking field, and for solving the problems, such as to judge that vehicle takes a sudden turn, technical essential is to comprise the following steps：S1. the speed of driving vehicle is obtained；S2. steering wheel angle when driving vehicle is turned is obtained；S3. the functional relation of steering wheel angle when radius of curvature when driving vehicle is turned is turned with driving vehicle is set up：S4. when setting cornering ratio is between 0.1~0.15 scope, the functional relation of the steering wheel angle of Ackermann steer angle and the speed of driving vehicle is sailed in foundation；S5. limit steering wheel angle when the corresponding driving vehicle of speed for obtaining driving vehicle according to the functional relation in step S4 is turned, steering wheel angle when being turned under driving vehicle arbitrary speed oversteps the extreme limit steering wheel angle, determines that it is zig zag.Beneficial effect is to have obtained a kind of zig zag determination methods of vehicle traveling.
Description
Technical field
The present invention relates to a kind of turn inside diameter determination methods, more particularly to a kind of vehicle traveling zig zag determination methods and
Based reminding method.
Background technology
OBD (On-Board Diagnostic, onboard diagnostic system product) technology originates from the U.S. of the eighties earliest,
It is initially that government uses and compulsory execution installation to monitor motor vehicle exhaust emission, it is believed by the various parts relevant with discharge
Breath, is connected to ECU (ECU), and ECU possesses the function of detection and analysis and discharge dependent failure.
The product of most of car networking is all realized by OBD interfaces in the market, and real car networking end
End must be the electronic busses from the automotive interior of CAN-i.e. realizes the connection with network, could obtain the complete of vehicle
Data.
Based on the Monitoring frequency of OBD products calculated with minute, and in actual driving procedure the action of car owner generation
Calculated with second, even millimeter, so the vehicle-mounted product based on OBD cannot accurately obtain real time data.
Although obtaining car speed by OBD to be easy to, the information exchange speed of OBD is not but most fast, so
Real-time speed is not accurate enough, and Intranet information exchange speed, while not existing saying for inquiry response, is carried significantly considerably beyond OBD
Efficiency high, and obtain car speed from Intranet and can effectively slow down OBD pressure.
Additionally, during turn inside diameter, vehicle hand-wheel angle can influence angle of turn, and under certain speed, vehicle
Steering wheel angle can substantially do not feel like oneself more than a limiting value, passenger when turning, it is to avoid and during alleviation turn inside diameter
Zig zag be a problem demanding prompt solution, therefore, obtaining a kind of vehicle zig zag determination methods, it appears particularly important.
The content of the invention
In order to solve the problems, such as to judge that vehicle takes a sudden turn, the judgement data that vehicle takes a sudden turn are obtained using the method, can be with
The frequency for reducing the zig zag during turn inside diameter and the technical problem for alleviating zig zag degree are solved, the present invention is provided
A kind of zig zag determination methods of vehicle traveling so that the direction when the speed for obtaining driving vehicle is turned with driving vehicle
On the basis of disk angle, it is possible to achieve the zig zag of vehicle traveling judges.
To achieve these goals, the technical solution adopted by the present invention is：A kind of zig zag determination methods of vehicle traveling,
Comprise the following steps：
S1. the speed of driving vehicle is obtained；
S2. steering wheel angle when driving vehicle is turned is obtained；
S3. the function for setting up steering wheel angle when radius of curvature when driving vehicle is turned is turned with driving vehicle is closed
System：
R=L/sinkx
Wherein：
R is radius of curvature when driving vehicle is turned
L is wheelbase
X is steering wheel angle when driving vehicle is turned
K is the proportionality coefficient of steering wheel angle and steering wheel angle on the outside of Ackermann steer angle；
S4. when setting cornering ratio is between 0.1~0.15 scope, the steering wheel angle of Ackermann steer angle is sailed in foundation
With the functional relation of the speed of driving vehicle：
F=(v2sinkx/127L)±i；
Wherein：
F is cornering ratio, f=0.10~0.15,
I be road surface transverse slope, i=-2%,
V is the speed of driving vehicle；
S5. limit when the corresponding driving vehicle of speed for obtaining driving vehicle according to the functional relation in step S4 is turned
Steering wheel angle, steering wheel angle when being turned under driving vehicle arbitrary speed oversteps the extreme limit steering wheel angle, determines that it is
Zig zag.
Used as the further supplement of technical scheme, the method for the speed of described acquisition driving vehicle is：
S1.1. vehicle is when static, finds the data frame that is not changed in all the time in in-car net interaction data and records the number
According to ID where frame, the data of locking data position when the data frame under the ID is stationary vehicle；
S1.2. starting vehicle and makes it at the uniform velocity travel, by ID where the data frame that records in, find and start that there is change
ID where data frame simultaneously records the ID again, and the data frame under the ID is the data of locking data position when vehicle is at the uniform velocity travelled；
S1.3. the Mathematical Modeling that the data of locking data position are met is estimated, it meets linear equation in two unknowns when judgement
When, speed and vehicle when the data of locking data position are at the uniform velocity travelled with vehicle during speed and stationary vehicle during by stationary vehicle
The data composition linear equation in two unknowns ax+by+c=0 of locking data position when at the uniform velocity travelling,
Wherein：X is the data of locking data position, and y is the actual travel speed of vehicle, and y is monitored by vehicle diagnostics software
What vehicle running state was obtained；
S1.4. coefficient and constant a, b and c are solved, and corresponding Mathematical Modeling is set up using the coefficient and constant；
S1.5 turns USB device and monitors in-car net data frame by CAN, finds the data frame for meeting the Mathematical Modeling, the number
The data frame for representing car speed is according to frame, the data is substituted into equation as the value of x and is solved y values, you can obtain the number
The Vehicle Speed represented according to frame.
Used as the further supplement of technical scheme, the method for obtaining steering wheel angle when driving vehicle is turned is：
S2.1. under vehicle stationary state：Timing is played in steering wheel, finds what is be not changed in all the time in in-car net interaction data
Data frame simultaneously records ID where the data frame, and the data frame under the ID beats the data of timing locking data position for steering wheel for vehicle；
S2.2. under vehicle stationary state, when steering wheel is killed, the number of the data frame place ID by being recorded in step S2.1
According to frame, find and start the data frame with change and record its ID again, the data contained by data frame under the ID are direction
The data of locking data position when disk is killed；
S2.3. the Mathematical Modeling that the data of locking data position are met is estimated, it meets linear equation in two unknowns when judgement
When, the steering wheel under stationary vehicle is played into timing and when steering wheel is killed locking data position data composition linear equation in two unknowns ax
+ b=y,
Wherein：X be locking data position data, y be stationary vehicle when steering wheel angle, y is by vehicle diagnostics software
Monitor what steering wheel angle was obtained；
S2.4. coefficient and constant a, b are solved, and corresponding Mathematical Modeling is set up using the coefficient and constant；
S2.5. USB device is turned by CAN and monitors in-car net data frame, find the data frame for meeting the Mathematical Modeling, the number
The data frame for representing car speed is according to frame, the data is substituted into equation as the value of x and is solved y values, you can obtain the number
The steering wheel angle represented according to frame.
As the further supplement of technical scheme, minimum profile curvature radius R when driving vehicle is turnedminTurn with vehicle outside
To wheel hard-over αmaxBetween functional relation be：
Rmin=L/sin αmax；
Vehicle hand-wheel angle when steering wheel for vehicle is killed is maximum, and correspondence vehicle outside deflecting roller hard-over, xmax
Vehicle hand-wheel angle when being killed for steering wheel for vehicle, then：
αmax=kxmax；
Vehicle hand-wheel angle x when steering wheel for vehicle is killed is obtained by step S2max, when being turned due to driving vehicle
Minimum profile curvature radius are RminIt is to fix known in vehicle release with wheelbase L, coefficient k and described Travel vehicle is obtained according to this
The functional relation of steering wheel angle when radius of curvature and driving vehicle when turning are turned：Curvature when driving vehicle is turned
The functional relation of steering wheel angle when radius is turned with driving vehicle：R=L/sinkx.
The invention further relates to a kind of based reminding method of the zig zag of vehicle traveling, the zig zag travelled in described vehicle is sentenced
On the basis of disconnected method, also include：
S6. once being judged to zig zag, i.e., remind driver to adjust by sound and light alarm and/or display alarm and take Travel vehicle
Turn when steering wheel angle, with avoid zig zag.
Beneficial effect：The characteristics of present invention utilizes Intranet information exchange speed considerably beyond OBD interfaces, obtains in Intranet
The steering wheel angle when speed and driving vehicle of driving vehicle are turned；Thus in the absence of inquiry response the step of, can be significantly
Data acquisition efficiency is improved, effectively slows down the pressure of OBD interfaces.
Zig zag of the invention judges and based reminding method, vehicle zig zag is judged and reminded, can cause to drive
The person of sailing can alleviate the zig zag during turn inside diameter, it is to avoid bring discomfort to passenger because take a sudden turn.
Brief description of the drawings
Fig. 1 is the schematic diagram of the method for the embodiment of the present invention 1；
Fig. 2 is schematic diagram when driving vehicle is turned in the method in embodiment 1.
Wherein：O is instantaneous center of turn, and (the longitudinal direction of car plane of symmetry is to instantaneous for radius of curvature when driving vehicle is turned for R
The distance of turning center O), L is wheelbase, and x is steering wheel angle when driving vehicle is turned, and k is that Ackermann steer angle outside turns to
The proportionality coefficient of wheel corner and steering wheel angle.
Specific embodiment
Embodiment 1
A kind of zig zag determination methods of vehicle traveling, comprise the following steps：
S1. the speed of driving vehicle is obtained；
S1.1. vehicle is when static, finds the data frame that is not changed in all the time in in-car net interaction data and records the number
According to ID where frame, the data of locking data position when the data frame under the ID is stationary vehicle；
S1.2. starting vehicle and makes it at the uniform velocity travel, by ID where the data frame that records in, find and start that there is change
ID where data frame simultaneously records the ID again, and the data frame under the ID is the data of locking data position when vehicle is at the uniform velocity travelled；
S1.3. the Mathematical Modeling that the data of locking data position are met is estimated, it meets linear equation in two unknowns when judgement
When, speed and vehicle when the data of locking data position are at the uniform velocity travelled with vehicle during speed and stationary vehicle during by stationary vehicle
The data composition linear equation in two unknowns ax+by+c=0 of locking data position when at the uniform velocity travelling,
Wherein：X is the data of locking data position, and y is the actual travel speed of vehicle, and y is monitored by vehicle diagnostics software
What vehicle running state was obtained；
S1.4. coefficient and constant a, b and c are solved, and corresponding Mathematical Modeling is set up using the coefficient and constant；
S1.5 turns USB device and monitors in-car net data frame by CAN, finds the data frame for meeting the Mathematical Modeling, the number
The data frame for representing car speed is according to frame, the data is substituted into equation as the value of x and is solved y values, you can obtain the number
The Vehicle Speed represented according to frame.
S2. steering wheel angle when driving vehicle is turned is obtained；
S2.1. under vehicle stationary state：Timing is played in steering wheel, finds what is be not changed in all the time in in-car net interaction data
Data frame simultaneously records ID where the data frame, and the data frame under the ID beats the data of timing locking data position for steering wheel for vehicle；
S2.2. under vehicle stationary state, when steering wheel is killed, the number of the data frame place ID by being recorded in step S2.1
According to frame, find and start the data frame with change and record its ID again, the data contained by data frame under the ID are direction
The data of locking data position when disk is killed；
S2.3. the Mathematical Modeling that the data of locking data position are met is estimated, it meets linear equation in two unknowns when judgement
When, the steering wheel under stationary vehicle is played into timing and when steering wheel is killed locking data position data composition linear equation in two unknowns ax
+ b=y,
Wherein：X be locking data position data, y be stationary vehicle when steering wheel angle, y is by vehicle diagnostics software
Monitor what steering wheel angle was obtained；
S2.4. coefficient and constant a, b are solved, and corresponding Mathematical Modeling is set up using the coefficient and constant；
S2.5. USB device is turned by CAN and monitors in-car net data frame, find the data frame for meeting the Mathematical Modeling, the number
The data frame for representing car speed is according to frame, the data is substituted into equation as the value of x and is solved y values, you can obtain the number
The steering wheel angle represented according to frame.
S3. the function for setting up steering wheel angle when radius of curvature when driving vehicle is turned is turned with driving vehicle is closed
System：
R=L/sinkx
Wherein：
R is radius of curvature when driving vehicle is turned
L is wheelbase
X is steering wheel angle when driving vehicle is turned
K is the proportionality coefficient of vehicle outside steering wheel angle and steering wheel angle；
Minimum profile curvature radius R when driving vehicle is turnedminWith vehicle outside deflecting roller hard-over αmaxBetween function
Relation is：
Rmin=L/sin αmax；
Vehicle hand-wheel angle when steering wheel for vehicle is killed is maximum, and the outer front-wheel steering locking angle of correspondence vehicle, xmaxFor
Vehicle hand-wheel angle when steering wheel for vehicle is killed, then：
αmax=kxmax；
Vehicle hand-wheel angle x when steering wheel for vehicle is killed is obtained by step S2max, when being turned due to driving vehicle
Minimum profile curvature radius are RminIt is to fix known in vehicle release with wheelbase L, coefficient k and described Travel vehicle is obtained according to this
The functional relation of steering wheel angle when radius of curvature and driving vehicle when turning are turned：Curvature when driving vehicle is turned
The functional relation of steering wheel angle when radius is turned with driving vehicle：R=L/sinkx.
S4. when setting cornering ratio is between 0.1~0.15 scope, the steering wheel angle of Ackermann steer angle is sailed in foundation
With the functional relation of the speed of driving vehicle：
F=(v2sinkx/127L)±i；
Wherein：
F is cornering ratio, f=0.10~0.15
I is that ("+" refers to that automobile is travelled in circular curve kerb lane to road surface transverse slope；"-" refers to automobile in circular curve fast lane
Traveling), i=-2%,
V is the speed of driving vehicle；
S5. limit when the corresponding driving vehicle of speed for obtaining driving vehicle according to the functional relation in step S4 is turned
Steering wheel angle, steering wheel angle when being turned under driving vehicle arbitrary speed oversteps the extreme limit steering wheel angle, determines that it is
Zig zag.
Cornering ratio is defined：With the measuring friction coefficient car of standard with certain speed when wet road surface is travelled, experiment
The side-friction force that wheel is subject to and the ratio for acting on the load-carrying on experiment wheel.Road Design is generally used for, wherein, typically
, it is in 7.5 ° -20 ° to determine wheel with direction of traffic.
Cornering ratio is a variable, relevant with many factors such as vehicle, speed, driving trace, pavement behavior.
Such as research shows that general concrete road surface side-friction coefficient f values are 0.4~0.6, and bituminous paving is 0.4~0.8, road surface
It is 0.2~0.3 during frost accumulated snow, does not add the ice and snow road of antiskid chain to be less than 0.2.For cornering ratio, the machine such as Japan, the U.S.
Dynamicization degree country higher studies relatively deeply more ripe in this regard.Japan pole between road surface and tire in comprehensive consideration
The size of transverse acceleration and comfort that limit resistance frictional force and people can bear in automobile and design cross force scope and be
0.10~0.15, superelevation standard horizontal wall inscription angle value (- 2%) is not set as superelevation value.
Assuming that under the premise of this background application method as described above, calculate speed and radius in scope shown in table one
When changing the balance of the comfort and security that can be reached, the limiting value of steering wheel angle.
Table one is different vehicle (R when dispatching from the factoryminIt is known) different travel speeds under, when corresponding driving vehicle is turned,
The comfort of passenger can with vehicle safety sexual balance when steering wheel extreme angles.
Table one
Embodiment 2：
A kind of based reminding method of the zig zag of vehicle traveling, the technical scheme with embodiment is identical, and difference is also to include：
S6. once being judged to zig zag, i.e., remind driver to adjust by sound and light alarm and/or display alarm and take Travel vehicle
Turn when steering wheel angle, with avoid zig zag.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, technology according to the present invention scheme and its
Inventive concept is subject to equivalent or change, should all be included within the scope of the present invention.
Claims (4)
1. the zig zag determination methods that a kind of vehicle is travelled, it is characterised in that：Comprise the following steps：
S1. the speed of driving vehicle is obtained；
S2. steering wheel angle when driving vehicle is turned is obtained；
S3. the functional relation of steering wheel angle when radius of curvature when driving vehicle is turned is turned with driving vehicle is set up：
R=L/sinkx
Wherein：
R is radius of curvature when driving vehicle is turned
L is wheelbase
X is steering wheel angle when driving vehicle is turned
K is the proportionality coefficient of steering wheel angle and steering wheel angle on the outside of Ackermann steer angle；
S4. when setting cornering ratio is between 0.1~0.15 scope, the steering wheel angle and row of Ackermann steer angle are sailed in foundation
Sail the functional relation of the speed of vehicle：
F=(v2sinkx/127L)±i；
Wherein：
F is cornering ratio, f=0.10~0.15,
I be road surface transverse slope, i=-2%,
V is the speed of driving vehicle；
S5. limit direction when the corresponding driving vehicle of speed for obtaining driving vehicle according to the functional relation in step S4 is turned
Disk angle, steering wheel angle when being turned under driving vehicle arbitrary speed oversteps the extreme limit steering wheel angle, determines that it is racing
It is curved；
The method of the speed of described acquisition driving vehicle is：
S1.1. vehicle is when static, finds the data frame that is not changed in all the time in in-car net interaction data and records the data frame
Place ID, the data of locking data position when the data frame under the ID is stationary vehicle；
S1.2. starting vehicle and makes it at the uniform velocity travel, by ID where the data frame that records in, find the data for starting that there is change
ID where frame simultaneously records the ID again, and the data frame under the ID is the data of locking data position when vehicle is at the uniform velocity travelled；
S1.3. the Mathematical Modeling that the data of locking data position are met is estimated, when judging that it meets linear equation in two unknowns, will
Speed and vehicle when the data of locking data position are at the uniform velocity travelled with vehicle during speed and stationary vehicle during stationary vehicle are at the uniform velocity
The data composition linear equation in two unknowns ax+by+c=0 of locking data position during traveling,
Wherein：X is the data of locking data position, and y is the actual travel speed of vehicle, and y is to monitor vehicle by vehicle diagnostics software
What transport condition was obtained；
S1.4. coefficient and constant a, b and c are solved, and corresponding Mathematical Modeling is set up using the coefficient and constant；
S1.5 turns USB device and monitors in-car net data frame by CAN, finds the data frame for meeting the Mathematical Modeling, the data frame
The data frame of car speed is as represented, the data is substituted into equation as the value of x and is solved y values, you can obtain the data frame
The Vehicle Speed of expression.
2. the zig zag determination methods that vehicle as claimed in claim 1 is travelled, it is characterised in that：When obtaining driving vehicle turning
The method of steering wheel angle be：
S2.1. under vehicle stationary state：Timing is played in steering wheel, the data being not changed in all the time in in-car net interaction data are found
Frame simultaneously records ID where the data frame, and the data frame under the ID beats the data of timing locking data position for steering wheel for vehicle；
S2.2. under vehicle stationary state, when steering wheel is killed, the data frame of the data frame place ID by being recorded in step S2.1
In, finding and start the data frame with change and record its ID again, the data contained by data frame under the ID are beaten for steering wheel
The data of locking data position when dead；
S2.3. the Mathematical Modeling that the data of locking data position are met is estimated, when judging that it meets linear equation in two unknowns, will
The data composition linear equation in two unknowns ax+b=of locking data position when steering wheel under stationary vehicle plays timing and steering wheel is killed
Y,
Wherein：X be locking data position data, y be stationary vehicle when steering wheel angle, y is monitored by vehicle diagnostics software
What steering wheel angle was obtained；
S2.4. coefficient and constant a, b are solved, and corresponding Mathematical Modeling is set up using the coefficient and constant；
S2.5. USB device is turned by CAN and monitors in-car net data frame, find the data frame for meeting the Mathematical Modeling, the data frame
The data frame of car speed is as represented, the data is substituted into equation as the value of x and is solved y values, you can obtain the data frame
The steering wheel angle of expression.
3. the zig zag determination methods that vehicle as claimed in claim 2 is travelled, it is characterised in that：During driving vehicle turning most
Small radius of curvature RminWith vehicle outside deflecting roller hard-over αmaxBetween functional relation be：
Rmin=L/sin αmax；
Vehicle hand-wheel angle when steering wheel for vehicle is killed is maximum, and correspondence vehicle outside deflecting roller hard-over, xmaxIt is car
Vehicle hand-wheel angle when steering wheel is killed, then：
αmax=kxmax；
Vehicle hand-wheel angle x when steering wheel for vehicle is killed is obtained by step S2max, minimum when being turned due to driving vehicle
Radius of curvature is RminIt is to fix known in vehicle release with wheelbase L, coefficient k is obtained according to this and described driving vehicle turns
The functional relation of steering wheel angle when radius of curvature when curved is turned with driving vehicle：Radius of curvature when driving vehicle is turned
The functional relation of steering wheel angle when being turned with driving vehicle：R=L/sinkx.
4. the based reminding method of the zig zag of a kind of vehicle traveling, in the racing of the vehicle traveling described in claim any one of 1-3
On the basis of curved determination methods, also include：
S6. once being judged to zig zag, i.e., remind driver to adjust by sound and light alarm and/or display alarm and take driving vehicle turn
Steering wheel angle when curved, to avoid zig zag.
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| CN110444017B (en) * | 2019-07-29 | 2022-02-01 | 山东交通学院 | Method for removing influence of road alignment on sharp turning of vehicle |
| CN110509925B (en) * | 2019-08-29 | 2021-03-23 | 合肥工业大学 | Method for identifying sharp turn based on Internet of vehicles data |
| CN110606092B (en) * | 2019-09-09 | 2021-05-18 | 中国第一汽车股份有限公司 | Method and device for determining driving state, vehicle and storage medium |
| CN111361545B (en) * | 2019-09-30 | 2021-04-20 | 北汽福田汽车股份有限公司 | Steering wheel rotation control method and device and vehicle |
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| TW201412585A (en) * | 2012-09-18 | 2014-04-01 | Automotive Res & Testing Ct | Vehicle curved road rollover prevention system and method thereof |
| CN104464375B (en) * | 2014-11-20 | 2017-05-31 | 长安大学 | It is a kind of to recognize the method that vehicle high-speed is turned |
| CN104571112B (en) * | 2015-01-14 | 2017-02-22 | 中国科学院合肥物质科学研究院 | Pilotless automobile lateral control method based on turning curvature estimation |
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