Disclosed are a method and an apparatus for controlling vehicle travelling, and a vehicle, wherein the method for controlling vehicle travelling includes: detecting a plurality of travelling states of a vehicle, the plurality of travelling states including a plurality of travelling directions; respectively previewing the vehicle travelling along the plurality of travelling directions from an original position in a lane to obtain a plurality of previewing paths; fitting a plurality of turning paths of the vehicle travelling from the original position to a target path in the lane according to the plurality of previewing paths; using the plurality of turning paths to calculate change information of a steering wheel angle; and adjusting the travelling direction according to the change information of the steering wheel angle, so as to control the vehicle to travel from the original position to the target path along the turning path. The embodiments of the disclosure enable the vehicle to return to the target path of the lane, and avoid adjustments made according to an empirical value, thereby ensuring the stability of travelling, effectively reducing the problems of overshoot and shock, and improving the comfort of drivers.
METHOD AND APPARATUS FOR CONTROLLING VEHICLE TRAVELLING, AND VEHICLE
09.04.2020
Patent
Elektronische Ressource
Englisch
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