The embodiment of the invention discloses a vehicle control method, device and equipment and a storage medium, and belongs to the technical field of automatic driving. The method comprises the steps that the real-time distance between an automatic driving vehicle and an adjacent vehicle in front of the automatic driving vehicle is obtained; when the real-time distance is greater than the free driving distance, the driving mode is determined to be a cruise mode; when the real-time distance is larger than the safe vehicle following distance and smaller than the free driving distance, a driving mode is determined according to the speed of the adjacent vehicle, the set speed and the actual speed; when the real-time distance is larger than the collision avoidance distance and smaller than the safe vehicle following distance, the driving mode of the automatic driving vehicle is determined according to the acceleration of the adjacent vehicle; when the real-time distance is smaller than the collision avoidance distance, determining a driving mode according to the actual speed, the speed of the adjacent vehicle and the acceleration of the adjacent vehicle; and controlling the automatic driving vehicle to drive according to the determined driving mode. According to the embodiment of the invention, multi-mode switching can be autonomously realized according to working conditions encountered in the driving process.

    本申请实施例公开了一种车辆控制方法、装置、设备及存储介质,属于自动驾驶技术领域。所述方法包括:获取自动驾驶车辆与前方的相邻车辆之间的实时距离;当实时距离大于自由驾驶距离时,确定行驶模式为巡航模式;当实时距离大于安全跟车距离且小于自由驾驶距离时,根据相邻车辆的速度、设定速度和实际速度,确定行驶模式;当实时距离大于避撞距离且小于安全跟车距离时,根据相邻车辆的加速度确定自动驾驶车辆的行驶模式;当实时距离小于避撞距离时,根据实际速度、相邻车辆的速度和相邻车辆的加速度,确定行驶模式;根据确定的行驶模式,控制自动驾驶车辆进行行驶。本申请实施例能够根据行驶过程中所遇到的工况,自主的实现多模式切换。


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    Title :

    Vehicle control method, device and equipment and storage medium


    Additional title:

    车辆控制方法、装置、设备及存储介质


    Contributors:
    HE RONGBO (author) / DU JINZHI (author) / LIU HAOMING (author) / ZHANG FEN (author) / ZHANG DIANKUN (author)

    Publication date :

    2020-06-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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