The embodiment of the invention provides a preview point determination method, a vehicle control method and a vehicle control system. The preview point determination method comprises the following steps: acquiring an expected path of a vehicle, a vehicle position and a preview distance; determining a first path point on the expected path based on the distance from the vehicle position to the expected path; obtaining a first distance and a second distance based on the preview distance; forwards increasing the first distance from the first path point along the expected path to obtain a second path point; based on the second path point and the second distance, a preview point is determined on the outer side of the expected path, and the preview point is used for determining the vehicle steering control quantity.
本申请实施例提供一种预瞄点确定方法、车辆控制方法以及车辆控制系统,所述预瞄点确定方法包括:获取车辆的期望路径、车辆位置以及预瞄距离;基于所述车辆位置到所述期望路径的距离,在所述期望路径上确定出第一路径点;基于所述预瞄距离,获得第一距离以及第二距离;从所述第一路径点沿所述期望路径向前增加所述第一距离,获得第二路径点;基于所述第二路径点以及所述第二距离,在所述期望路径的外侧确定出预瞄点,其中,所述预瞄点用于确定车辆转向控制量。
Preview point determination method, vehicle control method and vehicle control system
预瞄点确定方法、车辆控制方法以及车辆控制系统
2022-05-13
Patent
Electronic Resource
Chinese
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