The invention is suitable for the technical field of vehicle control, and provides a vehicle control method and device, terminal equipment and a storage medium, and the method comprises the steps: in the vehicle driving process, if the curvature of a preview point is greater than a preset value due to the change of a front planned trajectory, re-determining the preview point according to a preset formula, and determining the turning angle of the steering wheel according to the re-determined preview point. The objective of the invention is to solve the problems of unsmooth transverse movement and poor comfort of passengers during vehicle driving due to large change of the turning angle of a steering wheel caused by jumping of a preview point.
本申请适用于车辆控制技术领域,提供了一种车辆控制方法、装置、终端设备及存储介质,该方法包括:在车辆行驶过程中,若前方规划轨迹变化导致预瞄点曲率大于预设值,根据预设公式重新确定预瞄点,依据重新确定的预瞄点确定方向盘的转角。本申请目的是解决由于预瞄点发生跳变,导致方向盘的转角变化较大,从而引起车辆行驶时横向运动不平顺,乘客舒适性差的问题。
Vehicle control method and device, terminal equipment and storage medium
一种车辆控制方法、装置、终端设备及存储介质
2023-12-19
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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