The invention relates to a vehicle control method and device and a vehicle, and the method comprises the steps: obtaining the measurement information of obstacles around the vehicle to determine the motion model of the obstacles, determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacles; according to the relative speed of the target obstacle and the driving information of the vehicle, determining a first distance threshold value and a second distance threshold value; if the relative distance of the target obstacle is smaller than or equal to the first distance threshold value, determining a first deceleration according to a motion model of the target obstacle, and controlling the torque of a driving motor of the vehicle to enable the vehicle to run according to the first deceleration, if the relative distance of the target obstacle is smaller than or equal to a second distance threshold value, determining a second deceleration according to the motion model of the target obstacle, controlling the torque of the driving motor, and/or controlling the torque of an air braking module of the vehicle, so that the vehicle runs according to the second deceleration. The stability degree of the braking process can be improved.

    本公开涉及一种车辆的控制方法、装置和车辆,该方法包括:获取车辆周围障碍物的测量信息,以确定障碍物的运动模型,根据车辆的方向盘转角和障碍物的运动模型,确定目标障碍物,根据目标障碍物的相对速度和所述车辆的行驶信息,确定第一距离阈值和第二距离阈值,若目标障碍物的相对距离小于或等于第一距离阈值,根据目标障碍物的运动模型确定第一减速度,并控制车辆的驱动电机的扭矩,以使车辆按照第一减速度行驶,若目标障碍物的相对距离小于或等于第二距离阈值,根据目标障碍物的运动模型确定第二减速度,并控制驱动电机的扭矩,和/或控制车辆的气压制动模块的扭矩,以使车辆按照第二减速度行驶。能够提高制动过程的平稳程度。


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    Title :

    Vehicle control method and device and vehicle


    Additional title:

    车辆的控制方法、装置和车辆


    Contributors:
    LIU ZONGMING (author) / WANG LEI (author)

    Publication date :

    2021-11-26


    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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