The embodiment of the invention provides a vehicle control method, device and equipment and an automatic driving vehicle. The method comprises the following steps: acquiring the current driving speed of a vehicle, and then determining a group of feedback gains according to the current driving speed and feedback gain information; and determining a feedback rotation angle, a feed-forward rotation angle and a correction rotation angle corresponding to the current driving speed according to the group of feedback gains, and further determining a front wheel expected rotation angle corresponding to the current driving speed, so as to generate a control instruction according to the front wheel expected rotation angle to control the vehicle to drive according to a preset tracking trajectory. According to the vehicle control method provided by the invention, the optimal feedback gain matrix is calculated offline, the calculation amount for obtaining the expected rotating angle of the front wheel can be reduced, the influence on vehicle control is considered from multiple aspects, the tracking precision of the vehicle driving track is improved, and the transverse control effect of the vehicle is better.

    本申请实施例提供了提供了一种车辆控制方法、装置、设备及自动驾驶车辆,该方法包括:获取车辆当前的行驶速度,然后根据当前的行驶速度以及反馈增益信息确定一组反馈增益;再根据一组反馈增益确定与当前的行驶速度对应的反馈转角、前馈转角以及校正转角,进而确定与当前的行驶速度对应的前轮期望转角,以根据前轮期望转角生成控制指令控制车辆按照预设的跟踪轨迹行驶。本申请提供的车辆控制方法通过离线计算最优反馈增益矩阵,能够降低获取前轮期望转角的计算量,且本申请从多方面考虑了对车辆控制的影响,提高了对车辆行驶轨迹的跟踪精度,使得对车辆的横向控制效果更佳。


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    Title :

    Vehicle control method, device and equipment and automatic driving vehicle


    Additional title:

    车辆控制方法、装置、设备及自动驾驶车辆


    Contributors:

    Publication date :

    2021-07-30


    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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