	US 12,227,241 B2
	Method and apparatus for lateral control of vehicle, storage medium and vehicle
Chi Zhang, Beijing (CN); Wei Tan, Beijing (CN); and Hao Li, Beijing (CN)
Assigned to Xiaomi EV Technology Co., Ltd., Beijing (CN)
Filed by Xiaomi EV Technology Co., Ltd., Beijing (CN)
Filed on Aug. 18, 2022, as Appl. No. 17/890,764.
Claims priority of application No. 202210488535.2 (CN), filed on May 6, 2022.
Prior Publication US 2023/0356774 A1, Nov. 9, 2023
Int. Cl. B62D 6/00 (2006.01); B62D 15/02 (2006.01)

CPC B62D 6/003 (2013.01) [B62D 15/021 (2013.01); B62D 15/025 (2013.01)]

16 Claims

1. A method for lateral control of a vehicle, comprising:

determining a target steering wheel rotation angle based on a target trajectory of the vehicle and a vehicle pose;

determining a steering wheel rotation angle compensation according to the target steering wheel rotation angle and steering data of the vehicle, wherein the steering data comprises an actual yaw velocity of the vehicle, and determining the steering wheel rotation angle compensation further comprises

determining a target yaw velocity corresponding to the target steering wheel rotation angle, and

determining the steering wheel rotation angle compensation according to the target yaw velocity and the actual yaw velocity based on a preset proportional derivative control strategy, which comprises

determining a yaw velocity adjustment amount according to the target yaw velocity and the actual yaw velocity, and

determining the steering wheel rotation angle compensation corresponding to the yaw velocity adjustment amount based on the preset proportional derivative control strategy; and

controlling steering of the vehicle according to the target steering wheel rotation angle and the steering wheel rotation angle compensation, such that an actual steering angle of the vehicle is consistent with the target steering wheel rotation angle.