The embodiment of the invention discloses a vehicle control method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises the following steps: performing trajectory prediction on a vehicle which detects an obstacle in advance to generate an obstacle trajectory information group, and obtaining an obstacle trajectory information group set; determining an obstacle behavior probability entropy corresponding to each obstacle trajectory information group in the obstacle trajectory information group set to obtain an obstacle behavior probability entropy set; screening each piece of obstacle trajectory information in the obstacle trajectory information group set to generate a screened obstacle trajectory information group set; carrying out projection processing on the obstacle trajectory equations included in the screened obstacle trajectory information group set to generate a projected obstacle trajectory region coordinate set; performing trajectory planning by taking the position of the current vehicle as an initial position; and sending the planned path to a vehicle control terminal to control the current vehicle to move. According to the embodiment, the real-time performance of vehicle control is ensured.

    本公开的实施例公开了车辆控制方法、装置、电子设备和计算机可读介质。该方法的一具体实施方式包括:对预先检测到障碍物车辆进行轨迹预测以生成障碍物轨迹信息组,得到障碍物轨迹信息组集合;确定与障碍物轨迹信息组集合中每个障碍物轨迹信息组对应的障碍物行为概率熵,得到障碍物行为概率熵集合;对障碍物轨迹信息组集合中的各个障碍物轨迹信息进行筛选处理以生成筛选后障碍物轨迹信息组集合;对筛选后障碍物轨迹信息组集合包括的障碍物轨迹方程进行投影处理,以生成投影后障碍物轨迹区域坐标集;以当前车辆所在位置为初始位置进行轨迹规划;将规划路径发送至车辆控制终端、以控制当前车辆进行移动。该实施方式确保车辆控制的实时性。


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    Title :

    Vehicle control method and device, electronic equipment and computer readable medium


    Additional title:

    车辆控制方法、装置、电子设备和计算机可读介质


    Contributors:
    ZHANG XIONG (author) / LI MIN (author) / JIANG JIANHUI (author) / HU YUCHAO (author) / TAO WUKANG (author) / SHEN MIAO (author) / WANG QIAN (author) / AI YONGJUN (author)

    Publication date :

    2022-12-30


    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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