The invention relates to the technical field of automatic driving vehicles, in particular to a vehicle control method and device, terminal equipment and a storage medium. The method comprises the following steps: acquiring driving planning information of a vehicle, wherein the driving planning information is used for indicating a driving track planned for the vehicle; according to the driving planning information, dividing a target area around the vehicle to obtain a plurality of sensing areas; according to the priorities and the road condition information corresponding to the multiple sensing areas, action information of the vehicle is determined, and the action information is used for indicating and controlling the speed and/or the driving track of the vehicle. According to the embodiment of the invention, the influence of the driving planning information of the vehicle is considered when the vehicle is controlled, the region division is carried out according to the driving planning information of the vehicle, and the action information of the vehicle is determined according to the priority and the road condition information corresponding to the divided sensing regions, such as braking or track changing avoidance. The vehicle control mode is more intelligent, and the safety performance of the vehicle is improved.

    本公开涉及自动驾驶车辆技术领域,尤其涉及一种车辆控制方法、装置、终端设备及存储介质。所述方法包括:获取车辆的行驶规划信息,行驶规划信息用于指示为车辆规划的行驶轨迹;根据行驶规划信息,对车辆周围的目标区域进行划分得到多个感知区域;根据多个感知区域各自对应的优先级和路况信息,确定车辆的动作信息,动作信息用于指示控制车辆的速度和/或行驶轨迹。本公开实施例通过在控制车辆时考虑车辆的行驶规划信息的影响,根据车辆的行驶规划信息进行区域划分,再根据划分的多个感知区域各自对应的优先级和路况信息确定车辆的动作信息,比如刹车或换轨迹避让,使得车辆控制方式更加智能,提高了车辆的安全性能。


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    Title :

    Vehicle control method and device, terminal equipment and storage medium


    Additional title:

    车辆控制方法、装置、终端设备及存储介质


    Contributors:
    SHEN LIN (author) / DING SHUXI (author) / WANG HAO (author) / JIANG ZHAOJUAN (author)

    Publication date :

    2022-04-12


    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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