The invention discloses a vehicle control method and device. The method comprises the steps of: obtaining point cloud data corresponding to the surrounding environment of a vehicle collected by a laser radar and the position of the vehicle; determining the position and speed of each obstacle; depending on the position of a vehicle, determining a lane coordinate system taking a lane as a reference;for obstacles, determining a transverse safety distance and a longitudinal safety distance between the obstacles and the vehicle under a lane coordinate system; and according to the transverse safetydistance, the longitudinal safety distance and the positions of the obstacles, determining a safety influence characterization value of the obstacles on the vehicle, according to the safety influencecharacterization value of each obstacle, selecting at least one target obstacle in each obstacle, and according to the information of each target obstacle and the position of the vehicle, controllingthe vehicle. Through adoption of the method, the target obstacle which is more threatening to the driving safety of the vehicle can be screened out, so that the effect of more reasonably controllingthe vehicle in a complex display scene is achieved.

    本说明书公开了车辆控制方法及装置,通过获取激光雷达采集的车辆周围环境对应的点云数据以及车辆的位置,确定各障碍物的位置、速度,根据车辆的位置,确定以车道为参照的车道坐标系,针对各障碍物,确定在车道坐标系下该障碍物与车辆之间的横向安全距离以及纵向安全距离,根据横向安全距离、纵向安全距离以及该障碍物的位置,确定该障碍物对车辆的安全影响表征值,根据各障碍物的安全影响表征值,在各障碍物中,选择至少一个目标障碍物,根据各目标障碍物的信息以及车辆的位置,对车辆进行控制。通过上述方法,本说明书可筛选出对车辆的行驶安全更具有威胁性的目标障碍物,从而在复杂的显示场景中,达到更加合理的控制车辆的效果。


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    Titel :

    Vehicle control method and device


    Weitere Titelangaben:

    车辆控制方法及装置


    Beteiligte:
    BAI YU (Autor:in) / MA JIE (Autor:in) / XU XIAOHAN (Autor:in) / REN DONGCHUN (Autor:in)

    Erscheinungsdatum :

    2020-09-04


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion






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