The invention provides a vehicle control method, a vehicle controller and a vehicle, and belongs to the technical field of vehicle control. The method is applied to a vehicle controller, and the vehicle controller is connected with an electronic map, a self-vehicle inertia module and a motion execution module. The method includes: acquiring a front path of a vehicle; when it is determined that the front path is a curve, the actual vehicle speed sent by the motion execution module is received, the curvature of the curve is obtained from an electronic map, and the driving time and vehicle parameters of the vehicle and the speed parameters collected by the vehicle inertia module are obtained; according to the actual vehicle speed, the curvature, the driving time, the vehicle parameters and the speed parameters, the expected steering wheel angle of the vehicle is calculated, and the steering wheel angle of the vehicle is controlled to be the expected steering wheel angle. Therefore, the vehicle can do uniform circular motion after entering the curve, and can pass through the curve at the minimum lateral acceleration on the premise that the vehicle runs at the maximum speed, so that the comfort of a driver and passengers and the balance of the vehicle are ensured.

    本申请提供车辆控制方法、车辆控制器及车辆,属于车辆控制技术领域。方法应用于车辆控制器,车辆控制器分别与电子地图、自车惯性模块和运动执行模块连接;方法包括:获取车辆的前方路径;在确定前方路径为弯道时,接收运动执行模块发送的实际车速,从电子地图中获取弯道的曲率,并获取车辆的行驶时间、车辆参数、以及自车惯性模块采集的速度参数;根据实际车速、曲率、行驶时间、车辆参数以及速度参数,计算车辆的期望方向盘转角,控制车辆的方向盘转角为期望方向盘转角。这样,可以使得车辆进入弯道后做匀速圆周运动,可以在车辆保持最大车速行驶的前提下,以最小的侧向加速度通过弯道,从而确保了驾驶员和乘客的舒适性以及车辆的平衡性。


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    Titel :

    Vehicle control method, vehicle controller and vehicle


    Weitere Titelangaben:

    车辆控制方法、车辆控制器及车辆


    Beteiligte:
    WANG XIYU (Autor:in) / HAN CHAO (Autor:in) / XIAO LIANFEI (Autor:in) / GUO MEIGANG (Autor:in)

    Erscheinungsdatum :

    2024-01-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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