The embodiment of the invention discloses a vehicle control method and device, electronic equipment and a storage medium, and the method comprises the steps: determining whether an establishment condition of a minimum safety system is satisfied or not when determining that an automatic driving system of a vehicle has a fault of a preset level; if yes, determining whether the fault of the preset level is a fault of a positioning module and/or a sensing module in the automatic driving system; if yes, whether the vehicle runs on a straight road or not is determined; if yes, or the fault of the preset level is not the fault of a positioning module and/or a sensing module in the automatic driving system, determining a first longitudinal braking acceleration based on a preset acceleration change rate constraint curve; determining a target longitudinal braking acceleration according to the first longitudinal braking acceleration and a second longitudinal braking acceleration output by a planning module in the automatic driving system; and controlling vehicle braking according to the target longitudinal braking acceleration. According to the invention, the safety of the vehicle and the smoothness during braking are improved.

    本公开实施例公开了一种车辆控制方法、装置、电子设备和存储介质,方法包括:在确定车辆的自动驾驶系统出现预设等级的故障时,确定是否满足最小安全系统的成立条件;若是,则确定所述预设等级的故障是否是自动驾驶系统中定位模块和/或感知模块的故障;若是,则确定所述车辆当前是否在直道行驶;若是,或者预设等级的故障不是自动驾驶系统中定位模块和/或感知模块的故障,则基于预设的加速度变化率约束曲线确定第一纵向刹车加速度;根据第一纵向刹车加速度以及自动驾驶系统中规划模块输出的第二纵向刹车加速度确定目标纵向刹车加速度;根据目标纵向刹车加速度控制车辆制动。本公开提高了车辆安全性和刹车时的平顺性。


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    Title :

    Vehicle control method and device, electronic equipment and storage medium


    Additional title:

    车辆控制方法、装置、电子设备和存储介质


    Contributors:
    FAN XIAOLONG (author) / ZHU HAIYANG (author)

    Publication date :

    2024-04-05


    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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