The embodiment of the invention discloses a vehicle control method and device, equipment and a medium. The method comprises the steps of creating a corresponding two-vehicle relative motion constraint optimization model according to a driving track prediction model of a front vehicle and a kinematic model and dynamic characteristics of a target vehicle, and determining an automatic avoidance path of the target vehicle according to predetermined two-vehicle collision-free conditions and the two-vehicle relative motion constraint optimization model; and controlling the target vehicle to run along the automatic avoidance path based on a pre-created path tracking error model and the manipulation stability control model. According to the embodiment of the invention, an automatic avoidance path of a target vehicle is determined according to a predetermined two-vehicle collision-free condition and a two-vehicle relative motion constraint optimization model; the target vehicle is controlled to run along the automatic avoidance path based on the pre-created path tracking error model and the control stability control model, automatic emergency lane changing avoidance operation of the vehicle running condition is achieved, and the control stability of the vehicle in the automatic emergency lane changing avoidance operation process is guaranteed.
本发明实施例发明了一种车辆控制方法、装置、设备及介质。该方法包括:根据前方车辆的行驶轨迹预测模型、目标车辆的运动学模型和动力学特性创建对应的两车相对运动约束优化模型,根据预先确定的两车无碰撞条件和两车相对运动约束优化模型确定目标车辆的自动避让路径;基于预先创建的路径跟踪误差模型和操纵稳定性控制模型控制目标车辆沿自动避让路径行驶。本发明实施例,根据预先确定的两车无碰撞条件和两车相对运动约束优化模型确定目标车辆的自动避让路径;基于预先创建的路径跟踪误差模型和操纵稳定性控制模型控制目标车辆沿自动避让路径行驶,实现车辆行驶工况的自动紧急变道避让操作,保证车辆在自动紧急变道避让操作过程中的操纵稳定性。
Vehicle control method, device, equipment and medium
一种车辆控制方法、装置、设备及介质
2022-05-24
Patent
Elektronische Ressource
Chinesisch
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 |