The invention discloses a method and device for controlling vehicle driving and a vehicle. The method comprises the steps that the road curvature of the position where a vehicle is located at the current moment is obtained; determining a first state error of the vehicle at the current moment and a second state error of the vehicle at the preview point based on the road curvature; determining control data of the vehicle based on the first state error and the second state error; a turning angle of a steering wheel of the vehicle at a future moment is controlled based on the control data. The technical problem that the comfort and safety of the vehicle are poor in the driving process is solved.
本发明公开了一种控制车辆驾驶的方法、装置和车辆。其中,该方法包括:获取车辆在当前时刻所处位置的道路曲率;基于道路曲率,确定车辆在当前时刻的第一状态误差和车辆在预瞄点处的第二状态误差;基于第一状态误差和第二状态误差,确定车辆的控制数据;基于控制数据控制车辆的方向盘在未来时刻的转角。本发明解决了车辆在行驶过程中的舒适性和安全性差的技术问题。
Method and device for controlling vehicle driving and vehicle
控制车辆驾驶的方法、装置和车辆
01.11.2022
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 |
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