The invention relates to a vehicle control method and device and a vehicle, and the method comprises the steps: obtaining the driving state information and path information of the vehicle, the driving state information comprises the vehicle position and the vehicle speed, and the path information comprises the positions of a plurality of path points and the corresponding curvatures; determining a foresight distance based on the vehicle speed and the lateral deviation value; determining a starting point corresponding to the foresight distance based on the position of the target path point and a set preview distance threshold, and determining an end point corresponding to the foresight distance based on the position of the starting point and the foresight distance; determining an average curvature according to the curvature corresponding to each path point between the starting point and the ending point, and updating the foresight distance based on the average curvature to obtain a target foresight distance; determining a preview distance based on the target foresight distance, the position of the starting point and the vehicle position; a corner control amount is determined based on the preview distance, and the vehicle is controlled using the corner control amount. According to the invention, when the expected tracking path is nonlinear, the tracking precision of the vehicle can be improved.

    本申请涉及一种车辆控制方法、装置及车辆,该方法包括:获取车辆的行驶状态信息和路径信息,行驶状态信息包括车辆位置和车速,路径信息包括多个路径点的位置和对应的曲率;基于车速和横向偏差值,确定前视距离;基于目标路径点的位置和设定的预瞄距离阈值,确定前视距离对应的起点,基于起点的位置和前视距离,确定前视距离对应的终点;根据在起点和终点之间的各路径点对应的曲率确定平均曲率,基于平均曲率更新所述前视距离,得到目标前视距离;基于目标前视距离、起点的位置和车辆位置,确定预瞄距离;基于预瞄距离确定转角控制量,并利用转角控制量对车辆进行控制。本申请能够在期望跟踪路径为非直线时,提高车辆的跟踪精度。


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    Title :

    Vehicle control method and device and vehicle


    Additional title:

    一种车辆控制方法、装置及车辆


    Contributors:
    WANG HAINING (author) / LIU XINGJIA (author) / SUN KAIXIN (author)

    Publication date :

    2023-11-17


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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