The invention discloses a vehicle control method and system, computer equipment, a readable storage medium and a motor vehicle, and relates to the technical field of automatic driving, an automatic driving vehicle is operated to control the vehicle through the vehicle control method, and the method comprises the following steps: processing a current speed according to a historical speed to obtain a preview distance; obtaining a preview state according to the preview distance; calculating the state constraint of the vehicle; calculating a prediction state of the vehicle based on the preview state and the state constraint; and controlling the power system and the steering system according to the predicted state. According to the vehicle control method provided by the invention, the jitter of the control quantity is reduced based on the self-adaptive preview distance and the prediction domain curvature constraint.

    本发明公开了一种车辆控制方法、系统、计算机设备、可读存储介质及机动车,涉及自动驾驶技术领域,运行自动驾驶的车辆通过所述车辆控制方法对自车进行控制,包括如下步骤:根据历史速度对当前速度进行处理以获取预瞄距离;根据预瞄距离获预瞄状态;计算自车的状态约束;基于预瞄状态和状态约束计算自车的预测状态;根据预测状态控制动力系统和转向系统。本发明所提供的车辆控制方法基于自适应预瞄距离和预测域曲率约束,减小了控制量的抖动。


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    Title :

    Vehicle control method and system, computer equipment, readable storage medium and motor vehicle


    Additional title:

    一种车辆控制方法、系统、计算机设备、可读存储介质及机动车


    Contributors:

    Publication date :

    2023-04-18


    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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