The embodiment of the invention discloses a vehicle control method, device and equipment and a computer readable medium. A specific embodiment of the method comprises the following steps: acquiring a vehicle speed value of a current vehicle, a steering wheel rotation angle, sensor road fusion information and vehicle position information; transmitting the vehicle speed value, the steering wheel angle number, the sensor road fusion information and the vehicle position information to a path planning server to generate an expected path track point information set; constructing a target minimum control function and an optimal control constraint condition set based on the vehicle speed value and the expected path trajectory point information set; generating a target front wheel rotation angle number based on the target minimum control function and the optimal control constraint condition set; and transmitting the target front wheel rotation angle number to a steering controller for controlling the steering of the vehicle. According to the embodiment, the real-time performance of vehicle steering and the tracking capability of the vehicle to the path trajectory can be improved.
本公开的实施例公开了车辆控制方法、装置、设备和计算机可读介质。该方法的一具体实施方式包括:获取当前车辆的车速值、方向盘转角度数、传感器道路融合信息和车辆位置信息;将车速值、方向盘转角度数、传感器道路融合信息和车辆位置信息传输至路径规划服务器以生成期望路径轨迹点信息集;基于车速值和期望路径轨迹点信息集,构建目标极小控制函数和最优控制约束条件集;基于目标极小控制函数和最优控制约束条件集,生成目标前轮转角度数;将目标前轮转角度数传输至转向控制器,以供控制车辆转向。该实施方式可以提高车辆转向的实时性和车辆对路径轨迹的跟踪能力。
Vehicle control method, device and equipment and computer readable medium
车辆控制方法、装置、设备和计算机可读介质
2022-12-30
Patent
Elektronische Ressource
Chinesisch
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