The embodiment of the invention provides a vehicle control method and device, equipment and a medium. The method comprises the steps that a planned trajectory sequence, vehicle kinematics parameters and trajectory curvature of a vehicle in a first period are obtained; processing the planned trajectory sequence, the trajectory curvature and the vehicle kinematics parameters based on a preset kinematics model and a preset cost function so as to predict trajectory curvatures corresponding to N first moments in a nonlinear time domain; according to the preset delay duration of the steering system of the vehicle, the trajectory curvature of a second period is determined from the trajectory curvatures corresponding to the N first moments in the nonlinear time domain, and the second period is later than the first period; and controlling the vehicle to run according to the trajectory curvature of the second period. According to the embodiment of the invention, the accuracy of controlling vehicle driving is improved.
本申请实施例提供一种车辆控制方法、装置、设备及介质,包括:获取车辆在第一周期内的规划轨迹序列、车辆运动学参数和轨迹曲率;基于预设运动学模型和预设成本代价函数对规划轨迹序列、轨迹曲率以及车辆运动学参数进行处理,以预测非线性时域内的N个第一时刻分别对应的轨迹曲率;根据车辆的转向系统的预设延迟时长,从非线性时域内的N个第一时刻分别对应的轨迹曲率中确定第二周期的轨迹曲率,第二周期晚于第一周期;根据第二周期的轨迹曲率,控制车辆行驶。本申请实施例,提高了控制车辆行驶的准确性。
Vehicle control method, device, equipment and medium
车辆控制方法、装置、设备及介质
2022-07-29
Patent
Electronic Resource
Chinese
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 |