The embodiment of the invention provides a vehicle control method and device, a vehicle control unit and a vehicle, and the method comprises the steps: determining a fork region adjacent to a marginal lane under the condition that the vehicle is located on the marginal lane; determining a lane area adjacent to the obstacle area, and splicing a part of the lane area and the fork area to form a target area; obtaining a target object in the target area and a first motion parameter corresponding to the target object; and when the first motion parameter and the second motion parameter of the vehicle meet the avoidance condition, the driving speed and/or the driving direction of the vehicle are/is adjusted. In the embodiment of the invention, under the condition that the vehicle is located on the edge lane, the motion parameters of the target object located on the other side of the isolation belt and in the crossroad in the isolation belt can be obtained, and then whether the target object possibly collides with the vehicle or not is judged; and the vehicle is controlled to avoid the target object in time under the condition that the target object possibly drives out of the crossroad and collides with the vehicle, so that the driving safety is greatly improved.
本发明实施例提供了一种车辆控制方法、装置、整车控制器及车辆,包括:在车辆处于边缘车道的情况下,确定与边缘车道相邻的岔道口区域;确定与障碍区域相邻的车道区域,并将部分车道区域和岔道口区域拼合形成目标区域;获取目标区域内的目标对象以及目标对象对应的第一运动参数;在第一运动参数和车辆的第二运动参数满足避让条件时,调整车辆的行驶速度和/或行驶方向。本发明实施例中,可以在车辆处于边缘车道的情况下,获取隔离带另一侧以及位于隔离带中的岔道口中的目标对象的运动参数,进而判断目标对象是否可能与车辆发生碰撞,并在目标对象可能从岔道口驶出而与车辆发生碰撞的情况下及时控制车辆对其进行避让,大大提升了行车安全性。
Vehicle control method and device, vehicle control unit and vehicle
一种车辆控制方法、装置、整车控制器及车辆
2023-06-06
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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