The invention discloses a vehicle control method and device, electronic equipment and a vehicle, and relates to the technical field of intelligent driving, and the method comprises the steps: dividing an obtained planned path, and obtaining a reference line of each sub-planned path; and then the horizontal coordinate sequence and the vertical coordinate sequence of each reference line are respectively subjected to differential processing to obtain a first horizontal coordinate differential sequence and a first vertical coordinate differential sequence, and on the basis, midpoint valuing processing is carried out, so that a difference reduction curve between adjacent coordinate values is smoother. The course angle sequence obtained through further calculation is sequentially subjected to difference processing and midpoint value processing, a first course angle difference sequence is obtained, and the sudden change situation of the course angle is further reduced. Finally, the uniqueness of the curvature of each section of arc length obtained according to the arc length difference sequence and the obtained second course angle difference sequence is improved, the sudden change of the curvature can be effectively avoided, the output of the corresponding steering wheel turning angle is more stable, and the vehicle and personal safety is ensured.

    本发明公开了一种车辆控制方法、装置、电子设备和车辆,涉及智能驾驶技术领域,通过对获取到的规划路径进行划分,得到每个子规划路径的参考线。然后对每个参考线的横坐标序列和纵坐标序列分别进行差分处理,得到第一横坐标差分序列和第一纵坐标差分序列,在此基础之上进行中点取值处理,使得相邻坐标值之间的差距减小曲线更加的平滑。再对进一步计算得到的航向角序列依次进行差分处理、中点取值处理,得到第一航向角差分序列,进一步地减少航向角的突变情况的发生。最终提高了根据弧长差分序列和得到第二航向角差分序列得到每段弧长的曲率的唯一性,能够有效避免曲率突变情况的发生,使得相应方向盘转角的输出更加稳定,保证了车辆和人身安全。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Vehicle control method and device, electronic equipment and vehicle


    Weitere Titelangaben:

    一种车辆控制方法、装置、电子设备和车辆


    Beteiligte:
    LU LEI (Autor:in) / WU CHUNXIAO (Autor:in) / JIA XUETAO (Autor:in)

    Erscheinungsdatum :

    02.07.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    Vehicle control method, vehicle control device, electronic equipment and vehicle

    QIN SHAOCEN | Europäisches Patentamt | 2024

    Freier Zugriff

    Vehicle control method, vehicle control device, electronic equipment and vehicle

    WANG YANGYANG / LU CHAO / ZHU FUTANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Vehicle control method and device, electronic equipment and vehicle

    TANG DONG / WEI SHASHA / WU ZHENGUO | Europäisches Patentamt | 2024

    Freier Zugriff

    Vehicle control method and device, electronic equipment and vehicle

    ZHANG ZHONGXIAO / WANG JIACHANG / ZHANG YANG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Vehicle control method and device, electronic equipment and vehicle

    RAN TAO | Europäisches Patentamt | 2023

    Freier Zugriff