CN111731382B - Vehicle lateral control method, system, vehicle and storage medium - Google Patents
Vehicle lateral control method, system, vehicle and storage medium Download PDFInfo
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- CN111731382B CN111731382B CN202010623035.6A CN202010623035A CN111731382B CN 111731382 B CN111731382 B CN 111731382B CN 202010623035 A CN202010623035 A CN 202010623035A CN 111731382 B CN111731382 B CN 111731382B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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Abstract
The embodiment of the invention discloses a method and a system for controlling the transverse direction of a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: acquiring a first steering torque request value; determining a steering assist torque according to the first steering torque request value; determining a first steering compensation torque according to the first steering torque request value; and determining a target steering torque value according to the steering assist torque and the first steering compensation torque. According to the embodiment of the invention, the performance of the EPS system at the automatic driving transverse control execution end is optimized, so that the torque platform phenomenon during automatic driving transverse control is eliminated, a vehicle can more accurately respond to a steering signal in the automatic driving process, and the clamping stagnation feeling of a steering wheel in the actual response is reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method and a system for controlling the transverse direction of a vehicle, the vehicle and a storage medium.
Background
The lateral control of an autonomous vehicle is mainly used for controlling a Steering wheel of the vehicle, and an ADAS (Advanced Driving assistance System) controller configured in the vehicle controls an actual torque output from an EPS (Electric Power Steering) System by adjusting a Steering angle or a torque request in real time, thereby achieving Steering of the vehicle.
At present, the transverse control of automatic driving is mainly realized by optimizing an algorithm at an ADAS controller end so that an output torque request of the ADAS controller end can better meet the actual requirement, and therefore, an EPS system can execute and output a corresponding torque according to the torque request and can better meet the actual requirement. However, the lateral control of the automatic driving is finally reflected in the output of the steering wheel angle, and for the current lateral control method of the automatic driving, a 'torque plateau' phenomenon may occur, that is, the torque request output by the ADAS controller is increased, but the torque output by the EPS system cannot change the steering wheel angle, and the 'torque plateau' phenomenon may cause the steering wheel to have a clamping feeling in the actual response, thereby affecting the subjective feeling of the driver.
Disclosure of Invention
The embodiment of the invention provides a vehicle transverse control method, a vehicle transverse control system, a vehicle and a storage medium, which are used for realizing transverse control of an automatic driving vehicle, preventing a torque platform from appearing and improving the accuracy of vehicle steering response.
In a first aspect, an embodiment of the present invention provides a vehicle lateral control method, including:
acquiring a first steering torque request value;
determining a steering assist torque according to the first steering torque request value;
determining a first steering compensation torque according to the first steering torque request value;
and determining a target steering torque value according to the steering assist torque and the first steering compensation torque.
Further, before the obtaining the first requested steering torque value, the method further includes:
acquiring a steering torque parameter;
a first requested steering torque value is determined based on the steering torque parameter.
Further, the steering torque parameters include environmental monitoring parameters and vehicle state parameters, the environmental monitoring parameters include: lane line curvature, lane width, and distance of vehicle center from lane line, the vehicle state parameters including: steering wheel torque, steering wheel angle, and wheel slip angle.
Further, the determining a first steering torque request value according to the steering torque parameter includes:
determining a vehicle course angle according to the environment monitoring parameters;
a first requested steering torque value is determined based on the vehicle heading angle and the vehicle state parameter.
Further, after determining the target steering torque value according to the steering assist torque and the first steering compensation torque, the method further includes:
determining whether a torque plateau phenomenon occurs;
and if the torque platform phenomenon occurs, sending a torque platform alarm signal.
Further, after the sending the torque platform warning signal, the method further includes:
generating a second requested steering torque value based on the torque platform warning signal, the second requested steering torque value being greater than the first requested steering torque value;
and determining a first steering torque value according to the second steering torque request value, and taking the first steering torque value as a target steering torque value.
Further, after the sending the torque platform warning signal, the method further includes:
generating a second steering compensation torque according to the torque platform warning signal, wherein the second steering compensation torque is larger than the first steering compensation torque;
and determining a second steering torque value according to the second steering compensation torque, and taking the second steering torque value as a target steering torque value.
In a second aspect, an embodiment of the present invention provides a vehicle lateral control system, including:
a steering torque request value acquisition module for acquiring a first steering torque request value;
the power steering module is used for determining a power steering torque according to the first steering torque request value;
a steering compensation module for determining a first steering compensation torque based on the first requested steering torque value;
and the target steering torque value determining module is used for determining a target steering torque value according to the steering assist torque and the first steering compensation torque.
In a third aspect, an embodiment of the present invention provides a vehicle, including:
one or more processors;
a storage system for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle lateral control method provided by any embodiment of the invention.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements a vehicle lateral control method provided by any of the embodiments of the present invention.
The vehicle transverse control method provided by the embodiment of the invention obtains a first steering torque request value; determining a steering assist torque according to the first steering torque request value; determining a first steering compensation torque according to the first steering torque request value; and determining a target steering torque value according to the steering assist torque and the first steering compensation torque. Through optimizing the performance of the EPS system at the automatic driving transverse control execution end, the torque platform phenomenon during automatic driving transverse control is eliminated, so that a vehicle can more accurately respond to a steering signal in the automatic driving process, and the clamping stagnation feeling of a steering wheel in actual response is reduced.
Drawings
Fig. 1A is a schematic flowchart of a vehicle lateral control method according to an embodiment of the present invention;
FIG. 1B is a characteristic diagram of the steering compensation torque provided in accordance with one embodiment of the present invention;
fig. 1C is a graph illustrating an output characteristic of an EPS system without compensation according to an embodiment of the present invention;
fig. 1D is a graph illustrating an output characteristic of an EPS system with compensation according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a vehicle lateral control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle lateral control system according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. The terms "first", "second", etc. are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality", "batch" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example one
Fig. 1A is a schematic flow chart of a vehicle lateral control method according to an embodiment of the present invention, which is applicable to lateral control of an autonomous vehicle. As shown in fig. 1A, a vehicle lateral control method according to a first embodiment of the present invention includes:
s110, a first steering torque request value is obtained.
Specifically, the requested steering torque value is a torque value that needs to be applied to the steering wheel calculated by a lane master control system (e.g., a lane keeping assist system) when the vehicle is steered in an autonomous driving situation. In the automatic driving process, corresponding torque applied to a steering wheel by an EPS system of a vehicle is mainly used for enabling the steering wheel to rotate for a certain angle to complete steering of the vehicle, so that a first steering torque request value is calculated by a lane main control system of the vehicle and then is transmitted to the EPS system through a CAN signal, and the EPS system CAN obtain the first steering torque request value.
And S120, determining a steering auxiliary torque according to the first steering torque request value.
Specifically, the steering assist torque is a torque corresponding to basic assist provided by the EPS system for achieving vehicle steering, and the EPS system can calculate the steering assist torque according to the first requested steering torque value.
And S130, determining a first steering compensation torque according to the first steering torque request value.
Specifically, during the automatic driving, there may be a case where the requested steering torque output from the lane master control system is increased, but the steering wheel angle cannot be changed by the torque output from the EPS system, which is called "torque plateau". In order to prevent the torque plateau phenomenon, the EPS system provides a steering compensation torque that increases as the steering angle of the steering wheel increases, and in general, the larger the requested steering torque value, the larger the torque that needs to be applied to the steering wheel, and therefore, it can also be said that the steering compensation torque increases as the requested steering torque value increases, and the EPS system can determine the first steering compensation torque from the first requested steering torque value. Illustratively, the characteristic curve of the steering compensation torque is shown in fig. 1B, and it can be understood that fig. 1B only shows a schematic diagram of a linear relationship of the steering compensation torque and the steering wheel angle, which is used for representing that the steering compensation torque increases along with the increase of the steering wheel angle, and in the actual situation, the linear relationship of the steering compensation torque and the steering wheel angle is not strictly proportional, but still conforms to the characteristic that the steering compensation torque increases along with the increase of the steering wheel angle.
And S140, determining a target steering torque value according to the steering assist torque and the first steering compensation torque.
Specifically, the target steering torque value is a torque value to be applied to the steering wheel, which is finally output by the EPS system, and in the present embodiment, the target steering torque value is the sum of the steering assist torque and the first steering compensation torque. For example, when the first steering compensation torque is not present, the output characteristic curve of the EPS system is as shown in fig. 1C, and a section from a point a to a point b in fig. 1C indicates a torque plateau, and the steering wheel angle is not changed when the steering torque is increased. When the first steering compensation torque is added, the output characteristic of the EPS system is shown in FIG. 1D, and the torque plateau is eliminated.
The vehicle transverse control method provided by the first embodiment of the invention obtains a first steering torque request value; determining a steering assist torque according to the first steering torque request value; determining a first steering compensation torque according to the first steering torque request value; and determining a target steering torque value according to the steering assist torque and the first steering compensation torque. Through optimizing the performance of the EPS system at the automatic driving transverse control execution end, the torque platform phenomenon during automatic driving transverse control is eliminated, so that a vehicle can more accurately respond to a steering signal in the automatic driving process, and the clamping stagnation feeling of a steering wheel in actual response is reduced.
Example two
Fig. 2 is a schematic flow chart of a vehicle lateral control method according to a second embodiment of the present invention, which is a further optimization of the second embodiment. As shown in fig. 2, a vehicle lateral control method according to a second embodiment of the present invention includes:
and S200, acquiring a steering torque parameter.
Specifically, the steering torque parameter refers to a parameter required for calculating the requested steering torque value, and includes an environmental monitoring parameter and a vehicle state parameter, and the environmental monitoring parameter includes: the system comprises a lane line curvature, a lane width and a distance between a vehicle center and the lane line, wherein environment monitoring parameters are mainly acquired by an environment monitoring system of the vehicle, and the environment monitoring system mainly comprises a camera, a radar and a sensor. The vehicle state parameters include: the system mainly comprises a torque sensor, a steering wheel corner sensor and a wheel slip angle, wherein vehicle state parameters are mainly obtained by a vehicle state monitoring system of the vehicle, and the vehicle state monitoring system mainly comprises a plurality of sensors such as the torque sensor and the corner sensor.
And S210, determining a first steering torque request value according to the steering torque parameter.
Specifically, the environmental monitoring parameters acquired by the environmental monitoring system and the vehicle state parameters acquired by the vehicle state monitoring system are transmitted to the lane main control system through the CAN bus, and the lane main control system performs analysis and calculation to obtain a first steering torque request value.
Further, determining a first steering torque request value based on the steering torque parameter includes: determining a vehicle course angle according to the environment monitoring parameters; a first requested steering torque value is determined based on the vehicle heading angle and the vehicle state parameter. The lane main control system firstly analyzes and calculates information such as lane line curvature, lane width, distance between the center of the vehicle and the lane line to obtain a vehicle course angle, and then calculates a first steering torque request value required by vehicle transverse control by combining information such as steering wheel torque, steering wheel turning angle, wheel slip angle, steering wheel turning angle-torque characteristic curve and the like.
S220, a first steering torque request value is obtained.
And S230, determining a steering auxiliary torque according to the first steering torque request value.
And S240, determining a first steering compensation torque according to the first steering torque request value.
And S250, determining a target steering torque value according to the steering assist torque and the first steering compensation torque.
And S260, determining whether a torque plateau phenomenon occurs.
Specifically, the requested steering torque value output by the lane master control system is increased, but the steering wheel angle cannot be changed by the torque output by the EPS system, which is called "torque plateau", as shown in the section from point a to point B in fig. 1B. After the EPS system outputs a target steering torque value, the steering wheel can generate a corresponding corner, so that the relation between the steering wheel corner and a steering torque request value output by a lane main control system is detected in real time, whether a torque platform phenomenon occurs or not can be determined, and when the steering torque request value output by the lane main control system is increased and the steering wheel corner is kept unchanged, the torque platform phenomenon is considered to occur.
And S270, if the torque platform phenomenon occurs, sending a torque platform alarm signal.
Specifically, when the torque plateau phenomenon occurs, it is described that although the requested steering torque value output by the lane main control system is increased, the vehicle cannot generate a steering wheel angle of a corresponding size, and then a torque plateau warning signal is sent out to inform the lane main control system that the torque plateau phenomenon occurs, so that the lane main control system makes a corresponding adjustment to eliminate the torque plateau phenomenon.
And S280, generating a second steering torque request value according to the torque platform warning signal, wherein the second steering torque request value is larger than the first steering torque request value.
Specifically, after receiving the torque platform warning signal, the lane main control system adjusts the size of the currently output first steering torque request value to generate a second steering torque request value larger than the first steering torque request value, and then transmits the second steering torque request value to the EPS system through the CAN signal.
And S290, determining a first steering torque value according to the second steering torque request value, and taking the first steering torque value as a target steering torque value.
Specifically, the EPS system calculates according to the received second requested steering torque value, determines the corresponding steering assist torque and the corresponding steering compensation torque, and then takes the sum of the steering assist torque and the steering compensation torque as the first steering torque value, so that the first steering torque value is the target steering torque value finally output by the EPS system. Because the second requested steering torque value is greater than the first requested steering torque value, the first requested steering torque value is greater than the target steering torque value corresponding to the first requested steering torque value, that is, the actual output torque of the EPS system is increased, so that the steering angle of the steering wheel is increased, and the torque plateau phenomenon is eliminated.
Optionally, in an alternative embodiment, steps S280 to S290 may also be replaced with: generating a second steering compensation torque according to the torque platform warning signal, wherein the second steering compensation torque is larger than the first steering compensation torque; and determining a second steering torque value according to the second steering compensation torque, and taking the second steering torque value as a target steering torque value. When the torque plateau phenomenon occurs, the magnitude of the steering torque request value output by the lane main control system is not changed, but the steering compensation torque is directly increased in the EPS system, a second steering compensation torque larger than the first steering compensation torque is generated, then a second steering torque value is obtained according to the sum of the second steering compensation torque and the steering assisting torque, and the second steering torque value is a target steering torque value finally output by the EPS system. Because the second steering compensation torque is larger than the first steering compensation torque, the second steering torque value is larger than the target steering torque value corresponding to the first steering compensation torque, namely the actual output torque of the EPS system is increased, so that the steering angle of the steering wheel is increased, and the torque platform phenomenon is eliminated.
The vehicle transverse control method provided by the embodiment of the invention realizes transverse control of the automatic driving vehicle, and eliminates the torque platform phenomenon during the automatic driving transverse control, so that the vehicle can more accurately respond to a steering signal in the automatic driving process, and the clamping stagnation feeling of a steering wheel in the actual response is reduced.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle lateral control system according to a third embodiment of the present invention, which is applicable to lateral control of an autonomous vehicle. The vehicle transverse control system provided by the third embodiment of the invention can realize the vehicle transverse control method provided by any embodiment of the invention, has corresponding functional structures and beneficial effects of the realization method, and the content which is not described in detail in the embodiment can refer to the description of any method embodiment of the invention.
As shown in fig. 3, a vehicle lateral control system according to a third embodiment of the present invention includes: a steering torque request value acquisition module 310, a steering assist module 320, a steering compensation module 330, and a target steering torque value determination module 340, wherein:
the steering torque request value acquisition module 310 is configured to acquire a first steering torque request value;
the steering assist module 320 is configured to determine a steering assist torque based on the first requested steering torque value;
the steering compensation module 330 is configured to determine a first steering compensation torque according to the first requested steering torque value;
the target steering torque value determination module 340 is configured to determine a target steering torque value according to the steering assist torque and the first steering compensation torque.
Further, the method also comprises the following steps:
the parameter acquisition module is used for acquiring a steering torque parameter;
a requested steering torque value determination module determines a first requested steering torque value based on the steering torque parameter.
Further, the steering torque parameters include environmental monitoring parameters and vehicle state parameters, the environmental monitoring parameters include: lane line curvature, lane width, and distance of vehicle center from lane line, the vehicle state parameters including: steering wheel torque, steering wheel angle, and wheel slip angle.
Further, the steering torque request value determination module is specifically configured to:
determining a vehicle course angle according to the environment monitoring parameters;
a first requested steering torque value is determined based on the vehicle heading angle and the vehicle state parameter.
Further, still include the moment of torsion detection module, the moment of torsion detection module is specifically used for:
determining whether a torque plateau phenomenon occurs;
and if the torque platform phenomenon occurs, sending a torque platform alarm signal.
Further, the steering control system further comprises a first steering torque value determination module, which is specifically configured to:
generating a second requested steering torque value based on the torque platform warning signal, the second requested steering torque value being greater than the first requested steering torque value;
and determining a first steering torque value according to the second steering torque request value, and taking the first steering torque value as a target steering torque value.
Further, the control system further comprises a second steering torque value determination module, wherein the second steering torque value determination module is specifically configured to:
generating a second steering compensation torque according to the torque platform warning signal, wherein the second steering compensation torque is larger than the first steering compensation torque;
and determining a second steering torque value according to the second steering compensation torque, and taking the second steering torque value as a target steering torque value.
According to the vehicle transverse control system provided by the embodiment of the invention, through the steering torque request value acquisition module, the power steering module, the steering compensation module and the target steering torque value determination module, the torque platform phenomenon during automatic driving transverse control is eliminated through the optimization of the performance of the EPS system at the automatic driving transverse control execution end, so that a vehicle can more accurately respond to a steering signal in the automatic driving process, and the jamming feeling of a steering wheel in the actual response is reduced.
Example four
Fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, and shows a block diagram of an exemplary vehicle suitable for implementing the embodiment of the present invention. The vehicle shown in fig. 4 is only an example, and should not bring any limitation to the function and the scope of use of the embodiment of the present invention. As shown in fig. 4, the vehicle includes a processor 410, a memory 420, an input device 430, and an output device 440, the number of the processors 410 in the vehicle may be one or more, one processor 410 is taken as an example in fig. 4, the processor 410, the memory 420, the input device 430, and the output device 440 in the vehicle may be connected by a bus or in other manners, and the connection by a bus is taken as an example in fig. 4.
The memory 420 serves as a computer-readable storage medium that can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle lateral control method in the embodiment of the present invention (e.g., a steering torque request value acquisition module, a steering assist module, a steering compensation module, and a target steering torque value determination module in the vehicle lateral control apparatus). The processor 410 executes software programs, instructions and modules stored in the memory 420 to execute various functional applications and data processing of the vehicle, namely, to implement the vehicle lateral control method described above, which may include: acquiring a first steering torque request value; determining a steering assist torque according to the first steering torque request value; determining a first steering compensation torque according to the first steering torque request value; and determining a target steering torque value according to the steering assist torque and the first steering compensation torque.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the vehicle, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 may further include memory located remotely from the processor 410, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information, and to generate key signal inputs related to user settings and function control of the vehicle, and the like. The output device 440 may include a display device or other control device that displays video and the like.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a vehicle lateral control method according to any embodiment of the present invention, where the method may include:
acquiring a first steering torque request value;
determining a steering assist torque according to the first steering torque request value;
determining a first steering compensation torque according to the first steering torque request value;
and determining a target steering torque value according to the steering assist torque and the first steering compensation torque.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or terminal. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A vehicle lateral control method, characterized by comprising:
acquiring a first steering torque request value;
determining a steering assist torque according to the first steering torque request value;
determining a first steering compensation torque according to the first steering torque request value;
determining a target steering torque value according to the steering assist torque and the first steering compensation torque;
after the target steering torque value is determined according to the steering assist torque and the first steering compensation torque, the method further comprises the following steps:
determining whether a torque plateau phenomenon occurs;
if the torque platform phenomenon occurs, a torque platform alarm signal is sent out;
after the sending of the torque platform warning signal, the method further comprises:
generating a second requested steering torque value based on the torque platform warning signal, the second requested steering torque value being greater than the first requested steering torque value;
and determining a first steering torque value according to the second steering torque request value, and taking the first steering torque value as a target steering torque value.
2. The method of claim 1, wherein prior to obtaining the first requested steering torque value, further comprising:
acquiring a steering torque parameter;
a first requested steering torque value is determined based on the steering torque parameter.
3. The method of claim 2, wherein the steering torque parameters include environmental monitoring parameters and vehicle state parameters, the environmental monitoring parameters including: lane line curvature, lane width, and distance of vehicle center from lane line, the vehicle state parameters including: steering wheel torque, steering wheel angle, and wheel slip angle.
4. The method of claim 3, wherein said determining a first steering torque request value based on said steering torque parameter comprises:
determining a vehicle course angle according to the environment monitoring parameters;
a first requested steering torque value is determined based on the vehicle heading angle and the vehicle state parameter.
5. The method of claim 1, wherein said issuing a torque platform warning signal further comprises:
generating a second steering compensation torque according to the torque platform warning signal, wherein the second steering compensation torque is larger than the first steering compensation torque;
and determining a second steering torque value according to the second steering compensation torque, and taking the second steering torque value as a target steering torque value.
6. A vehicle lateral control system, comprising:
a steering torque request value acquisition module for acquiring a first steering torque request value;
the power steering module is used for determining a power steering torque according to the first steering torque request value;
a steering compensation module for determining a first steering compensation torque based on the first requested steering torque value;
the target steering torque value determining module is used for determining a target steering torque value according to the steering assist torque and the first steering compensation torque;
the torque detection module is used for determining whether a torque platform phenomenon occurs;
if the torque platform phenomenon occurs, a torque platform alarm signal is sent out;
a first steering torque value determination module to generate a second steering torque request value based on the torque platform alert signal, the second steering torque request value being greater than the first steering torque request value;
and determining a first steering torque value according to the second steering torque request value, and taking the first steering torque value as a target steering torque value.
7. A vehicle, characterized by comprising:
one or more processors;
a storage system for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle lateral control method of any of claims 1-5.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle lateral control method according to any one of claims 1 to 5.
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| CN202010623035.6A CN111731382B (en) | 2020-06-30 | 2020-06-30 | Vehicle lateral control method, system, vehicle and storage medium |
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| CN202010623035.6A CN111731382B (en) | 2020-06-30 | 2020-06-30 | Vehicle lateral control method, system, vehicle and storage medium |
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| CN111731382B true CN111731382B (en) | 2021-07-27 |
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