The invention discloses a vehicle control method and device, equipment and a medium, and relates to the technical field of intelligent driving, and the method comprises the steps: determining a target function and a target constraint according to a target variable related to a vehicle decision and vehicle planning; wherein the target variables comprise a variable related to a vehicle motion state, a variable related to a vehicle lane changing state, a variable related to an obstacle and a variable related to a vehicle driving area; optimizing the value of the target variable according to the target constraint to obtain a target value of the target variable under the condition of meeting the target constraint; and controlling the vehicle according to the target value so as to realize vehicle control for integrally optimizing the vehicle decision and the vehicle planning. In conclusion, the vehicle decision making and the vehicle planning are used as an integral optimization target, the target constraint is applied, and optimization solution is carried out, so that the real-time performance and the stability of vehicle control are improved.
本申请公开了一种车辆控制方法、装置、设备及介质,涉及智能驾驶技术领域,包括:根据与车辆决策和车辆规划有关的目标变量确定目标函数和目标约束;其中,所述目标变量包括与车辆运动状态相关的变量、与车辆变道状态相关的变量、与障碍物相关的变量和与车辆行驶区域相关的变量;根据所述目标约束对所述目标变量的取值进行优化,以得到所述目标变量在满足所述目标约束下的目标取值;根据所述目标取值对车辆进行控制,以实现对所述车辆决策和所述车辆规划进行整体优化的车辆控制。综上可见,本申请将车辆决策和车辆规划作为一个整体优化目标,施加目标约束并进行优化求解,如此一来,提高了车辆控制的实时性和稳定性。
Vehicle control method, device, equipment and medium
一种车辆控制方法、装置、设备及介质
2024-04-19
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 |