CN115716502B - Steering control method and device based on automatic driving - Google Patents
Steering control method and device based on automatic driving Download PDFInfo
- Publication number
- CN115716502B CN115716502B CN202310029981.1A CN202310029981A CN115716502B CN 115716502 B CN115716502 B CN 115716502B CN 202310029981 A CN202310029981 A CN 202310029981A CN 115716502 B CN115716502 B CN 115716502B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- steering angle
- target steering
- steering
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000008447 perception Effects 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims description 8
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a steering control method and device based on automatic driving, and relates to the technical field of automatic driving. The method comprises the following steps: when the distance steering position is set to be long, determining a first target steering angle according to path planning and environment perception; if the vehicle is judged to have unstable risk according to the running state of the vehicle and the first target steering angle, controlling the vehicle to run for the set length in the reverse direction of steering; and when the steering position is reached, determining a second target steering angle again according to the path planning and the environment perception, and controlling the steering of the vehicle according to the second target steering angle. The invention ensures the steering stability of the vehicle and the success rate.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a steering control method and device based on automatic driving.
Background
Steer-by-wire systems provide a good hardware basis for autonomous steering of an autonomous car, and are considered to be one of the key components for advanced autonomous driving.
The steering-by-wire technology can realize decoupling of driver operation and vehicle movement, so that the steering operation accuracy and the driver safety under emergency conditions can be improved, and the vehicle steering is realized by adopting motor control direct drive, so that the steering-by-wire technology is easier to communicate with other active safety control subsystems of the vehicle and is easier to realize integrated control.
The existing steering technology generally determines a target steering angle based on path planning, and ensures that the vehicle stably runs in the middle of a lane. Sometimes, however, a roll may occur due to a too strong turn. An improved method sets a threshold value for the target steering angle in consideration of the comfort and the operation stability of the vehicle, but this method may lead to a failure of steering.
Disclosure of Invention
The embodiment of the invention provides a steering control method and device based on automatic driving, which ensure the steering stability of a vehicle and the success rate.
In a first aspect, the present invention provides a steering control method based on automatic driving, including:
when the distance steering position is set to be long, determining a first target steering angle according to path planning and environment perception;
if the vehicle is judged to have unstable risk according to the running state of the vehicle and the first target steering angle, controlling the vehicle to run for the set length in the reverse direction of steering;
determining a second target steering angle again from the path planning and the environmental awareness upon reaching the steering position; the second target steering angle is smaller than the first target steering angle;
and if the vehicle is judged to have no unstable risk according to the running state of the vehicle and the second target steering angle, controlling the steering of the vehicle according to the second target steering angle.
Preferably, after determining the second target steering angle again according to the path planning and the environmental awareness, the method further comprises:
if the vehicle is judged to have unstable risk according to the running state of the vehicle and the second target steering angle, the speed of the vehicle is reduced to be a set value, so that the vehicle does not have unstable risk when steering at the second target steering angle.
Preferably, if the risk of instability of the host vehicle in steering at the second target steering angle is detected during traveling after the vehicle speed is reduced to the set value, the second target steering angle is reduced.
Preferably, the method further includes, after reducing the second target steering angle:
if the steering is not successful according to the environment sensing judgment, the braking of the vehicle is controlled and the vehicle is transmitted to the driver for operation.
Preferably, the set length is determined according to the vehicle speed, the vehicle position and the lane width allowing steering.
Preferably, if it is determined that the host vehicle has an unstable risk according to the driving state of the host vehicle and the first target steering angle, controlling the host vehicle to drive in a reverse direction of steering for the set length includes:
predicting a roll angle according to the running state of the vehicle and the first target steering angle;
if the predicted roll angle is larger than the maximum roll stabilizing angle, judging that the vehicle has unstable risk;
and if the vehicle turns right, controlling the vehicle to run left for the set length, and if the vehicle turns left, controlling the vehicle to run right for the set length.
Preferably, the predicting the roll angle according to the driving state of the host vehicle and the first target steering angle includes:
the method comprises the steps of collecting the running state, steering angle and actually measured roll angle of the vehicle in advance in the running process of the vehicle, and establishing a corresponding relation;
and predicting the roll angle according to the running state of the vehicle, the first target steering angle and the corresponding relation.
Preferably, the reducing the vehicle speed of the vehicle is set to a set value, so that the vehicle does not have an unstable risk when steering at the second target steering angle, including:
the method comprises the steps of collecting the running state, steering angle and actually measured roll angle of the vehicle in advance in the running process of the vehicle, and establishing a corresponding relation;
determining the maximum speed of the host vehicle when the maximum stable roll angle is reached according to the corresponding relation, the host vehicle state and the second target steering angle, and taking the maximum speed as the set value;
the speed of the vehicle is reduced to be a set value.
Preferably, the vehicle is provided with a steer-by-wire system so as to ensure steering accuracy.
In a second aspect, the present invention provides an electronic device comprising a processor, a memory, an input device, and an output device;
the processor is configured to execute the steps of any one of the steering control methods based on automatic driving by calling a program or instructions stored in the memory.
The invention has the following technical effects:
when the length is set from the steering position, the first target steering angle is determined in advance, and then when the steering instability is predicted, a certain distance margin exists, and the vehicle can travel for a certain distance in the reverse direction of steering, so that the required target steering angle, namely a commonly-called turning large bend, can be reduced. Compared with the prior art, the method reduces the steering angle to improve the stability, but changes the path in advance, and determines the second target steering angle on the new path, so that the smaller steering angle can also successfully steer.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an automatic driving-based steering control method provided by an embodiment of the present invention;
FIG. 2 is a schematic illustration of a host vehicle travel route provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the invention, are within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The embodiment of the invention provides a steering control method based on automatic driving, which is suitable for the situations that the target steering angle of a vehicle is adjusted before and during steering and the steering is controlled according to the adjusted target steering angle. Fig. 1 is a flowchart of an automatic driving-based steering control method, which is executed by an electronic device and includes:
and S110, when the distance from the steering position is set to be the length, determining a first target steering angle according to the path planning and the environment perception.
The steering position is a position where steering is required, i.e. a critical position from straight to steering, for example at an intersection. The embodiment is not limited to a specific value of the set length, and may be set according to practical situations, for example, 30 meters. Preferably, the set length is determined according to the vehicle speed, the vehicle position, and the steering-permitted lane width so that the vehicle travels to the steering-permitted lane edge (the reverse direction side of steering) at the arrival steering position. The lane width that allows steering is the total width of at least one lane.
Fig. 2 is a schematic diagram of a driving route of the vehicle according to an embodiment of the present invention. Assuming that the vehicle speed is 30km/h, the number of lanes allowing steering is 2, the total width is 3m, the vehicle needs to travel transversely for 1 meter from the vehicle position to the edge of the lane, and the transverse vehicle speed is 0.5m/s, the vehicle is 16.6m at a distance of 30km/h over 2s, and the set length is set.
The path planning defines a specific travel route for a lane-level path from a departure point to a destination. The environment sensing comprises the front road condition sensed based on the collected data of cameras, radars and the like, whether obstacles exist or not, whether the front vehicle is braked and needs to avoid or not, and the like. Whether the host vehicle needs to turn (to avoid an obstacle or a lead vehicle) and a first target steering angle can be determined based on environmental awareness on the basis of path planning. The specific method for determining the first target steering angle can be determined based on the speed of the vehicle and the road condition, and the prior art is referred to.
For convenience of description and distinction, the target steering angle obtained when the length is set from the steering position is referred to as a first target steering angle. The steering angle may be defined as the angle at which the front wheel turns relative to straight.
S120, judging whether the vehicle is at unstable risk or not according to the running state of the vehicle and the first target steering angle. If so, jump to S121; if not, go to S122.
The running state of the vehicle comprises a dynamic state and a static state, wherein the static state comprises a front wheel positioning parameter, a rear suspension structure parameter and the like. The dynamic state is a state in the running process, including the speed of the vehicle and the like.
First, a roll angle is predicted from the host vehicle running state and the first target steering angle. Specifically, the running state, the steering angle and the actually measured roll angle of the vehicle in the running process of the vehicle are collected in advance, and a corresponding relation is established; and predicting the roll angle according to the running state of the vehicle, the first target steering angle and the corresponding relation. Wherein, the corresponding relation can be a one-to-one corresponding table of data, and the roll angle is predicted by looking up a table; the roll angle may be predicted by solving a mathematical expression in which the running state and the steering angle of the vehicle are input and the actual measured roll angle is output.
Then, if the predicted roll angle is larger than the maximum roll stabilizing angle, judging that the vehicle has unstable risk; and if the predicted roll angle is smaller than or equal to the maximum roll stability angle, judging that the vehicle has no unstable risk. Wherein the maximum roll stability angle visually reflects the roll stability performance of the host vehicle, and the specific acquisition method is referred to the prior art.
S121, controlling the vehicle to travel the set length in the reverse direction of steering. Execution continues with S130.
And if the vehicle turns right, controlling the vehicle to run left for the set length, and if the vehicle turns left, controlling the vehicle to run right for the set length.
S122, controlling the steering of the vehicle at the first target steering angle, and ending the operation.
S130, at the position of reaching the steering position, determining a second target steering angle again according to the path planning and the environment perception.
For example, at an intersection where the host vehicle has changed lanes or is leaning towards the lane edges without changing lanes, there may be a change in the forward view of obstacles or vehicles ahead, requiring a re-determination of the second target steering angle based on path planning and environmental awareness.
It is foreseen that the second target steering angle is smaller than the first target steering angle as the host vehicle travels away from the steering direction.
For convenience of description and distinction, the target steering angle obtained at the steering position is referred to as a second target steering angle.
And S140, judging whether the vehicle is at unstable risk or not according to the running state of the vehicle and the second target steering angle. If not, S141 is performed. If so, S142 is performed.
Similar to S120, the roll angle is first predicted from the host vehicle running state and the second target steering angle. Specifically, the running state, the steering angle and the actually measured roll angle of the vehicle in the running process of the vehicle are collected in advance, and a corresponding relation is established; and predicting the roll angle according to the driving state of the vehicle, the second target steering angle and the corresponding relation. Then, if the predicted roll angle is larger than the maximum roll stabilizing angle, judging that the vehicle has unstable risk; and if the predicted roll angle is smaller than or equal to the maximum roll stability angle, judging that the vehicle has no unstable risk.
S141, controlling the steering of the vehicle at the second target steering angle.
S142, the speed of the vehicle is reduced to be a set value, so that the vehicle is free from unstable risk when steering at the second target steering angle.
Specifically, on the basis of the corresponding relation, determining the maximum speed of the host vehicle when the maximum stable roll angle is reached according to the corresponding relation, the host vehicle state and the second target steering angle, and taking the maximum speed as the set value; the speed of the vehicle is reduced to be a set value.
And inputting the maximum stable rolling, the state of the vehicle and the second target steering angle into a corresponding relation, and solving to obtain the maximum speed of the vehicle. It can be seen that after the speed of the vehicle is reduced to the set value, the vehicle can be steered at the second target steering angle, so that the vehicle is ensured not to turn on one's side.
According to the invention, when the length is set from the steering position, the first target steering angle is determined in advance, and further, when the steering instability is predicted, a certain distance margin exists, and the steering device can drive for a certain distance in the reverse direction of steering, so that the required target steering angle, namely a commonly-called turning large bend, can be reduced. Compared with the prior art, the method reduces the steering angle to improve the stability, but changes the path in advance, and determines the second target steering angle on the new path, so that the smaller steering angle can also successfully steer.
On the basis of the above embodiment, considering that the predicted roll angle may be different from the actual roll angle detected, it is still necessary to detect whether there is an unstable risk during running and make corresponding adjustments. If the speed of the vehicle is reduced to the set value, and the instability risk of the vehicle is detected in the running process when the vehicle is steered at a second target steering angle, the second target steering angle is reduced.
Specifically, the roll angle is actually detected when steering at the second target steering angle, and the second target steering angle is reduced when a risk of rollover is identified. The magnitude of the decrease may be a set point or a gradual decrease to avoid rollover.
Preferably, the method further includes, after reducing the second target steering angle: and if the steering cannot be successfully performed according to the environment sensing judgment, controlling the braking of the vehicle. The front lane line can be detected according to the data of the camera and the radar, and then the curvature of the road is obtained. And then judging whether the road passing through the curvature can be judged by combining the current pose and the steering angle of the vehicle. If the steering is not successful, the braking of the vehicle is controlled and the vehicle is transmitted to the driver for operation. If the steering can be achieved, the steering of the vehicle is continuously controlled at the reduced steering angle.
In the above embodiments, the host vehicle is equipped with the steer-by-wire system to ensure steering accuracy.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 3, the device includes a processor 40, a memory 41, an input device 42 and an output device 43; the number of processors 40 in the device may be one or more, one processor 40 being taken as an example in fig. 3; the processor 40, the memory 41, the input means 42 and the output means 43 in the device may be connected by a bus or other means, in fig. 3 by way of example.
The memory 41 is used as a computer readable storage medium, and can be used for storing a software program, a computer executable program and a module, such as a program instruction/module corresponding to the method for disassembling a communication line of a new line of urban rail transit in the embodiment of the invention. The processor 40 executes various functional applications of the apparatus and data processing by running software programs, instructions and modules stored in the memory 41, i.e., implements the above-described method for disassembling a newly built line communication line of urban rail transit.
The memory 41 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 41 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, memory 41 may further include memory located remotely from processor 40, which may be connected to the device 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 means 42 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the device. The output means 43 may comprise a display device such as a display screen.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.
Claims (8)
1. An automatic driving-based steering control method, comprising:
when the distance steering position is set to be long, determining a first target steering angle according to path planning and environment perception;
the method comprises the steps of collecting the running state, steering angle and actually measured roll angle of the vehicle in advance in the running process of the vehicle, and establishing a corresponding relation;
predicting a roll angle according to the running state of the vehicle, the first target steering angle and the corresponding relation;
if the predicted roll angle is larger than the maximum roll stabilizing angle, judging that the vehicle has unstable risk;
if the vehicle turns right, controlling the vehicle to run left for the set length, and if the vehicle turns left, controlling the vehicle to run right for the set length;
determining a second target steering angle again from the path planning and the environmental awareness upon reaching the steering position; the second target steering angle is smaller than the first target steering angle;
and if the vehicle is judged to have no unstable risk according to the running state of the vehicle and the second target steering angle, controlling the steering of the vehicle according to the second target steering angle.
2. The method of claim 1, further comprising, after determining the second target steering angle based on the path planning and the environmental awareness:
if the vehicle is judged to have unstable risk according to the running state of the vehicle and the second target steering angle, the speed of the vehicle is reduced to be a set value, so that the vehicle does not have unstable risk when steering at the second target steering angle.
3. The method according to claim 2, characterized in that the second target steering angle is reduced if, after the vehicle speed has been reduced to the set value, an unstable risk of the own vehicle when steering at the second target steering angle is detected during traveling.
4. The method of claim 3, further comprising, after reducing the second target steering angle:
if the steering is not successful according to the environment sensing judgment, the braking of the vehicle is controlled and the vehicle is transmitted to the driver for operation.
5. The method of any one of claims 1-4, wherein the set length is determined based on a host vehicle speed, a host vehicle position, and a lane width in which steering is permitted.
6. The method of claim 2, wherein reducing the vehicle speed to a set value such that the vehicle is not at risk of instability when steering at the second target steering angle comprises:
the method comprises the steps of collecting the running state, steering angle and actually measured roll angle of the vehicle in advance in the running process of the vehicle, and establishing a corresponding relation;
determining the maximum speed of the host vehicle when the maximum stable roll angle is reached according to the corresponding relation, the host vehicle state and the second target steering angle, and taking the maximum speed as the set value;
the speed of the vehicle is reduced to be a set value.
7. The method according to any one of claims 1-4, wherein the host vehicle is equipped with a steer-by-wire system to ensure steering accuracy.
8. An electronic device, comprising: a processor, a memory, an input device, and an output device;
the processor is configured to execute the steps of the steering control method based on automatic driving as claimed in any one of claims 1 to 4 by calling a program or instructions stored in the memory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310029981.1A CN115716502B (en) | 2023-01-10 | 2023-01-10 | Steering control method and device based on automatic driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310029981.1A CN115716502B (en) | 2023-01-10 | 2023-01-10 | Steering control method and device based on automatic driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115716502A CN115716502A (en) | 2023-02-28 |
| CN115716502B true CN115716502B (en) | 2023-04-28 |
Family
ID=85257912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310029981.1A Active CN115716502B (en) | 2023-01-10 | 2023-01-10 | Steering control method and device based on automatic driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115716502B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108225364A (en) * | 2018-01-04 | 2018-06-29 | 吉林大学 | A kind of pilotless automobile driving task decision system and method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2833056B2 (en) * | 1989-10-13 | 1998-12-09 | 三菱電機株式会社 | Automatic driving control system for vehicles |
| JP4513659B2 (en) * | 2005-06-14 | 2010-07-28 | トヨタ自動車株式会社 | Vehicle steering device |
| JP6252575B2 (en) * | 2015-09-28 | 2017-12-27 | トヨタ自動車株式会社 | Automatic driving device |
| JP6340037B2 (en) * | 2016-06-07 | 2018-06-06 | 株式会社Ｓｕｂａｒｕ | Vehicle travel control device |
| JP6683178B2 (en) * | 2017-06-02 | 2020-04-15 | トヨタ自動車株式会社 | Automatic driving system |
| CN209833758U (en) * | 2019-01-08 | 2019-12-24 | 南京航空航天大学 | Drive-by-wire steering system |
| CN111290407B (en) * | 2020-03-30 | 2023-09-15 | 新石器慧通（北京）科技有限公司 | Automatic driving vehicle and steering adjustment method thereof |
-
2023
- 2023-01-10 CN CN202310029981.1A patent/CN115716502B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108225364A (en) * | 2018-01-04 | 2018-06-29 | 吉林大学 | A kind of pilotless automobile driving task decision system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115716502A (en) | 2023-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021259000A1 (en) | Method and apparatus for controlling vehicle following, vehicle, and storage medium | |
| US20210129844A1 (en) | Vision-based follow the leader lateral controller | |
| CN111066071B (en) | Position error correction method and position error correction device for driving assistance vehicle | |
| US10179602B2 (en) | Driver assistance system for vehicle | |
| US11235757B2 (en) | Collision avoidance apparatus | |
| US8170739B2 (en) | Path generation algorithm for automated lane centering and lane changing control system | |
| US9045144B2 (en) | Third-order polynomial-based course prediction for driver assistance functions | |
| US8190330B2 (en) | Model based predictive control for automated lane centering/changing control systems | |
| EP3405374B1 (en) | Deceleration curb-based direction checking and lane keeping system for autonomous driving vehicles | |
| CN111717198B (en) | Control method, device, equipment and medium for L2 level automatic driving | |
| EP3663153A1 (en) | Vehicle control device | |
| CN112249014B (en) | Vehicle lateral control method, vehicle, and computer-readable storage medium | |
| EP2042357B1 (en) | Stabilizer control device, stabilizer control method and stabilizer control program | |
| US11912360B2 (en) | Vehicle control method, vehicle control system, and vehicle | |
| US20200307612A1 (en) | Vehicle control device | |
| JP2022118550A (en) | Vehicle drive assist device | |
| WO2022216641A1 (en) | Counter-steering penalization during vehicle turns | |
| CN115716502B (en) | Steering control method and device based on automatic driving | |
| CN116443049A (en) | Anti-collision method and device for automatic driving vehicle | |
| KR20210066063A (en) | Apparatus for controlling backward driving of vehicle and method thereof | |
| CN112677964B (en) | Obstacle avoidance method, apparatus, device and medium based on lane keeping auxiliary function | |
| CN114620127A (en) | Vehicle steering obstacle avoidance method and device, electronic equipment and storage medium | |
| US20230227034A1 (en) | Vehicle control method, vehicle control system, and map management method | |
| JP2018203156A (en) | Vehicular steering device and vehicle steering control method | |
| CN115384487A (en) | Transverse control method and device based on four-wheel steering, storage medium and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20230228 Assignee: Jiangsu Tianyi Airport Equipment Maintenance Service Co.,Ltd. Assignor: Jiangsu Tianyi Aviation Industry Co.,Ltd. Contract record no.: X2023980044219 Denomination of invention: A steering control method and equipment based on autonomous driving Granted publication date: 20230428 License type: Common License Record date: 20231024 |