The invention is suitable for the technical field of automobiles, and provides a vehicle control method and device, a vehicle-mounted terminal and a computer readable storage medium, and the method comprises the steps: obtaining vehicle parameters, a preview distance and a planned expected path of a vehicle when the vehicle runs on a road; calculating a preview error of the vehicle according to the vehicle parameters, the preview distance and the expected path, wherein the preview error is an error parameter between a current path obtained by vehicle preview and the expected path; compensating the preview error according to a set kinetic model to obtain a compensated preview error; calculating a target front wheel turning angle of the vehicle according to the compensated preview error and the vehicle parameters; and performing motion control on the vehicle according to the target front wheel steering angle. According to the vehicle control method provided by the invention, the driving path of the vehicle can be closer to the planned expected path, and the control accuracy of the vehicle is improved.

    本申请适用于汽车技术领域,提供了一种车辆控制方法、装置、车载终端及计算机可读存储介质,所述方法包括:当车辆在道路上行驶时,获取车辆的车辆参数、预瞄距离以及规划的期望路径;根据车辆参数、预瞄距离以及期望路径计算得到车辆的预瞄误差,预瞄误差为车辆预瞄得到的当前路径与期望路径之间的误差参数;根据设定的动力学模型对预瞄误差进行补偿,得到补偿后的预瞄误差;根据补偿后的预瞄误差和车辆参数计算车辆的目标前轮转角;根据目标前轮转角,对车辆进行运动控制。本申请提供的车辆控制方法可以使车辆的行驶路径更接近于规划的期望路径,提高了对车辆的控制准确率。


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    Title :

    Vehicle control method and device, vehicle-mounted terminal and storage medium


    Additional title:

    一种车辆控制方法、装置、车载终端及存储介质


    Contributors:
    WANG YAWEI (author)

    Publication date :

    2023-01-24


    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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