The invention discloses a vehicle control method and device, a vehicle and a storage medium. The method comprises the following steps: determining a difference between an obtained actual acceleration of a vehicle and a reference acceleration of the vehicle as a vehicle control error; determining a dynamic gain parameter and a boundary error parameter based on the vehicle control error; and determining an acceleration control quantity according to the dynamic gain parameter, the boundary error parameter, the vehicle reference acceleration and the vehicle control error, and controlling the vehicle according to the acceleration control quantity. According to the technical scheme, adaptive automatic determination of the vehicle acceleration control quantity in the driving process is achieved, meanwhile, the stability given by a vehicle control system is fully considered when the vehicle acceleration control quantity is determined, oscillation of the vehicle control system is avoided, the vehicle driving stability is enhanced, and the driving experience of the vehicle is improved. The safety of vehicle driving is improved when the vehicle driving is adjusted according to the acceleration control quantity.

    本发明公开了一种车辆控制方法、装置、车辆及存储介质。该方法包括:将获取的车辆实际加速度与车辆参考加速度之差,确定为车辆控制误差;基于车辆控制误差确定动态增益参数和边界误差参数;根据动态增益参数、边界误差参数、车辆参考加速度和车辆控制误差确定加速度控制量,并依据加速度控制量对车辆进行控制。本发明实施例的技术方案,实现了行驶过程中针对车辆加速度控制量进行适应性自动确定,同时在确定车辆加速度控制量时充分考虑了车辆控制系统给的稳定性,避免了车辆控制系统振荡,增强了车辆驾驶稳定性,提升了依据加速度控制量对车辆行驶调节时,车辆驾驶的安全性。


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    Title :

    Vehicle control method and device, vehicle and storage medium


    Additional title:

    一种车辆控制方法、装置、车辆及存储介质


    Contributors:
    ZHANG FULEI (author) / CHEN XIAOHU (author) / JU TAN (author) / ZHUANG DENGXIANG (author) / HUANG RUN (author) / GAO YUHUI (author) / XU HUI (author)

    Publication date :

    2023-02-24


    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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