The invention relates to a method and device for controlling a vehicle, and the method comprises the steps: generating fused sensing data according to the data obtained by each sensing sensor, and taking the time data of a preset sensing sensor as sensing reference time data; generating positioning data according to the data acquired by each positioning sensor, and taking the time data of the preset positioning sensor as positioning reference time data; updating according to the positioning reference time data and the positioning data to obtain new map data; acquiring new map data closest to the sensing reference time data as matched map data; obtaining decision planning path information according to the matched map data and the fused perception data; or acquiring fusion sensing data closest to the positioning reference time data as matched fusion sensing data; obtaining decision planning path information according to the new map data and the matched fusion perception data; and performing transverse and longitudinal control on the vehicle according to the positioning data closest to the current time and the decision planning path information.
本发明涉及一种对车辆进行控制的方法及装置,其中方法包括:根据各感知传感器获取的数据生成融合感知数据,将预设感知传感器的时间数据作为感知基准时间数据;根据各定位传感器获取的数据生成定位数据,将预设定位传感器的时间数据作为定位基准时间数据;根据定位基准时间数据和定位数据更新,得到新地图数据;获取距离感知基准时间数据最近的新地图数据,作为匹配地图数据;根据匹配地图数据和融合感知数据得到决策规划路径信息;或者获取距离定位基准时间数据最近的融合感知数据,作为匹配融合感知数据;根据新地图数据和匹配融合感知数据得到决策规划路径信息;根据距离当前时间最近的定位数据和决策规划路径信息对车辆进行横纵向控制。
Method and device for controlling vehicle
一种对车辆进行控制的方法及装置
2024-01-23
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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