The invention discloses a vehicle meeting control method and device, vehicle control equipment and a storage medium, and the method comprises the steps: determining the width of a drivable region when a main vehicle detects an opposite vehicle, judging whether the width meets the condition that the main vehicle and the opposite vehicle run in a wrong manner, and if yes, generating a first track, a second track and a third track, the first track and the third track are respectively a track of transverse staggered meeting of the main vehicle and the opposite vehicle, the second track is a track of parking avoidance of the main vehicle, calculating the transverse meeting cost of the main vehicle according to the first track and the third track, and calculating the longitudinal meeting cost of the main vehicle according to the second track. The transverse meeting cost is negatively correlated with the transverse distance between the main vehicle and the opposite vehicle during meeting; judging whether the transverse meeting cost is smaller than the longitudinal meeting cost or not; if yes, controlling the main vehicle to run according to the first track; if not, controlling the main vehicle to run according to the second track. According to the embodiment, the main vehicle can select the comfortable meeting mode to meet the opposite vehicle according to the meeting cost, and the comfort during meeting of the main vehicle is improved.
本发明公开了一种会车控制方法、装置、车辆控制设备和存储介质,包括:在主车检测到有对向车时确定可行驶区域的宽度,判断宽度是否满足主车和对向车错车行驶,若是则生成第一轨迹、第二轨迹和第三轨迹,第一轨迹和第三轨迹分别为主车和对向车横向错车会车的轨迹,第二轨迹为主车停车避让的轨迹,根据第一轨迹和第三轨迹计算主车的横向会车代价,根据第二轨迹计算主车的纵向会车代价,横向会车代价与主车和对向车会车时两车的横向距离负相关;判断横向会车代价是否小于纵向会车代价;若是则控制主车按照第一轨迹行驶;若否则控制主车按照第二轨迹行驶。本实施例中主车能够根据会车代价选择较舒适的会车方式与对向车会车,提高主车会车时的舒适感。
Vehicle meeting control method and device, vehicle control equipment and storage medium
会车控制方法、装置、车辆控制设备和存储介质
2023-03-28
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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