The embodiment of the invention provides a control method and device for passing through a width limiting facility and a vehicle, and the method comprises the steps: determining the center line of the width of the width limiting facility according to the width of the width limiting facility under the condition that the vehicle can pass through the front width limiting facility; according to the vehicle body width of the vehicle, the center line of the vehicle body width is determined; steering control information is output according to the relative position between the center line of the width of the vehicle body and the center line of the width of the width limiting facility; and according to the steering control information, the vehicle is controlled to pass through the width limiting facility with the coincidence of the center line of the vehicle body width and the center line of the width of the width limiting facility as the constraint. When the vehicle can smoothly pass through the width limiting facility, rubbing between the vehicle body and the tail of the vehicle and the width limiting facility caused by deviation of the driving track of the vehicle is avoided, and the driving safety and comfort are improved.
本发明实施例提供了一种通过限宽设施的控制方法、装置及车辆,所述方法包括:在识别到车辆能够通过前方的限宽设施的情况下,根据所述限宽设施的宽度,确定所述限宽设施的宽度的中心线;根据所述车辆的车身宽度,确定所述车身宽度的中心线;根据所述车身宽度的中心线与所述限宽设施的宽度的中心线之间的相对位置,输出转向控制信息;根据所述转向控制信息,以所述车身宽度的中心线与所述限宽设施的宽度的中心线重合为约束,控制所述车辆通过所述限宽设施。使车辆能够顺利通过限宽设施的同时,避免了因车辆行驶轨迹发生偏移而造成车身及车尾与限宽设施发生剐蹭,提高了行车的安全性和舒适性。
Control method and device for passing through width limiting facility and vehicle
一种通过限宽设施的控制方法、装置及车辆
2023-01-20
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 |
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