The invention discloses a vehicle driving control method and device, a vehicle and a storage medium. The method comprises the following steps: determining a track search point of a target vehicle in a target prediction driving area in a preset time period; for each time point in the preset time period, determining an uncertainty value of a target trajectory point corresponding to the current time point in the predicted driving trajectory of the obstacle of the target vehicle; for each track search point corresponding to the current time point, determining a speed loss amount, an acceleration loss amount and an obstacle loss amount of the target vehicle at the current track search point; according to the speed loss amount, the acceleration loss amount, the obstacle loss amount and the uncertainty value, determining a target loss amount of the current track search point, and taking the track search point with the minimum target loss amount as a target driving track point of the target vehicle at the current time point; the target vehicle is controlled to run along each target running track point, the uncertainty of the obstacle prediction track can be considered, and the planning path running space can be expanded.
本发明公开了一种车辆行驶控制方法、装置、车辆及存储介质。方法包括:确定目标车辆在预设时间段的目标预测行驶区域内的轨迹搜索点;针对预设时间段内的各个时间点,确定目标车辆的障碍物的预测行驶轨迹中,与当前时间点对应的目标轨迹点的不确定性值;针对当前时间点对应的各个轨迹搜索点,确定目标车辆在当前轨迹搜索点的速度损失量、加速度损失量及障碍物损失量;根据速度损失量、加速度损失量、障碍物损失量及不确定性值,确定当前轨迹搜索点的目标损失量,并将目标损失量最小的轨迹搜索点作为目标车辆在当前时间点的目标行驶轨迹点;控制目标车辆沿着各个目标行驶轨迹点行驶,能够考虑障碍物预测轨迹不确定性,可拓展规划路径行驶空间。
Vehicle driving control method and device, vehicle and storage medium
一种车辆行驶控制方法、装置、车辆及存储介质
2023-08-04
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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