Transverse control method and device of vehicle, vehicle and storage medium

• Main Authors: ZHU KEFU, JIANG HONGWEI, MENG FANDUO, ZHANG JIAN, WANG YU, LI ZUOWEN, LI LINRUN, SUN YUHANG
• Format: Patent
• Language: Chinese; English
• Published: 12.07.2024
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRAILERS; TRANSPORTING; VEHICLES IN GENERAL

The invention relates to the technical field of vehicles, in particular to a transverse control method and device of a vehicle, the vehicle and a storage medium, and the method comprises the steps that a road condition image of a road where the vehicle is located, vehicle body posture data of the vehicle and a steering wheel rotating angle are collected; calculating a vehicle body offset of the vehicle according to the road condition image of the road where the vehicle is located, and calculating an auxiliary turning angle of the vehicle based on a preset model controller and vehicle body attitude data; and determining a weight coefficient according to the steering wheel rotation angle, the auxiliary rotation angle and the vehicle body offset, determining a total target control rotation angle according to the weight coefficient, the steering wheel rotation angle and the auxiliary rotation angle, and performing transverse control on the vehicle based on the total target control rotation angle. Therefore, the p