The invention discloses a vehicle control method, a vehicle control device, an articulated vehicle and a computer readable storage medium, and the vehicle control method comprises the steps: in each tracking period, determining first position information and a tracking included angle of a target part when the articulated vehicle moves along a to-be-tracked path; the target part is a front wheel or a rear wheel of the articulated vehicle; the tracking included angle is an included angle between the current orientation of the target part and a connecting line from the target part to a target point of the tracking period; determining a to-be-moved distance based on the first position information and second position information of the target point; determining a target value of a steering angle of the articulated vehicle according to the tracking included angle, the to-be-moved distance and a pre-constructed chassis model; a direction of movement of the articulated vehicle is controlled based on the target value. The control method can improve the tracking precision of the vehicle on the to-be-tracked path.
本申请公开了一种车辆的控制方法、车辆的控制装置、铰接式车辆以及计算机可读存储介质,该车辆的控制方法包括:在每个跟踪周期内,确定铰接式车辆沿待跟踪路径移动时目标部位的第一位置信息和跟踪夹角;目标部位为铰接式车辆的前轮或后轮;跟踪夹角为目标部位当前的朝向与目标部位至跟踪周期的目标点的连线之间的夹角;基于第一位置信息和目标点的第二位置信息确定待移动距离;根据跟踪夹角、待移动距离以及预先构建的底盘模型,确定铰接式车辆的转向角的目标值;基于目标值控制铰接式车辆的移动方向。该控制方法能够提高车辆对待跟踪路径的跟踪精度。
Vehicle control method and device, articulated vehicle and storage medium
车辆的控制方法、装置、铰接式车辆以及存储介质
2023-12-08
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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