Patent ID: 11919518
Assignee: GREAT WALL MOTOR COMPANY LIMITED
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A method for controlling lane changing of a vehicle, wherein the method comprises:
receiving a lane changing instruction, wherein the lane changing instruction contains a target travelling lane;
acquiring a speed parameter of the vehicle;
according to the speed parameter, determining a controlling coefficient of a predetermined controller, and the predetermined controller is a proportion integration differentiation (PID) controller;
lane-changing controlling, comprising: acquiring a position-deviation parameter and a heading-angle parameter of the vehicle; when at least one of conditions that the position-deviation parameter is greater than or equal to a first threshold, and the heading-angle parameter is greater than or equal to a second threshold occurs, according to the controlling coefficient, the position-deviation parameter and the heading-angle parameter, determining a target steering-wheel steering angle of the vehicle; and according to the target steering-wheel steering angle, controlling the vehicle to perform a lane changing operation; and
repeating the step of lane-changing controlling, till the position-deviation parameter is less than the first threshold, and the heading-angle parameter is less than the second threshold;
wherein the position-deviation parameter refers to a transverse distance between a current position of the vehicle and a target position within the target travelling lane; and the heading angle refers to an included angle between a current course of the vehicle and the target travelling lane;
wherein the step of, according to the speed parameter, determining the controlling coefficient of the predetermined controller comprises:
according to a matching relation between the speed parameter and a predetermined first parameter table, determining a first proportionality coefficient and a first differential coefficient that correspond to the speed parameter; and
according to a matching relation between the speed parameter and a predetermined second parameter table, determining a second proportionality coefficient that corresponds to the speed parameter; and
the step of, according to the controlling coefficient, the position-deviation parameter and the heading-angle parameter, determining the target steering-wheel steering angle of the vehicle comprises:
according to the position-deviation parameter, the first proportionality coefficient and the first differential coefficient, by using a proportional-differential-control algorithm, determining a first steering-wheel steering angle;
according to the heading-angle parameter and the second proportionality coefficient, by using a proportional-control algorithm, determining a second steering-wheel steering angle; and
according to a predetermined rule, calculating on the first steering-wheel steering angle and the second steering-wheel steering angle, to obtain the target steering-wheel steering angle.