The embodiment of the invention provides a method and equipment for controlling a vehicle, the vehicle and a computer program product. The method comprises the following steps: when a vehicle runs along a center line of a lane, in response to detecting that an obstacle exists on at least one side of two sides of the lane, determining a transverse movement speed of the obstacle and a distance between the obstacle and the center line; according to the determined transverse movement speed and distance, determining a transverse offset required for keeping a safe distance between the vehicle and the obstacle; and controlling the vehicle to deviate from the center line to run based on the transverse offset. According to the method disclosed by the embodiment of the invention, the deviated virtual lane line is calculated based on the lane line and the relative position relationship between the left and right obstacle targets without depending on a high-precision map and a combined positioning system on the basis of lane centering keeping; therefore, the vehicle can be simply and reliably controlled in a low-cost mode to adaptively deviate in the lane so as to avoid the obstacle.
本公开的实施例提供了一种控制车辆的方法、设备、车辆和计算机程序产品。该方法包括:在车辆沿车道的中心线行驶期间,响应于检测到车道的两侧中的至少一侧存在障碍物,确定障碍物的横向移动速度和障碍物与中心线的距离;根据所确定的横向移动速度和距离,确定车辆与障碍物保持安全距离所需要的横向偏移量;以及基于横向偏移量控制车辆偏移中心线行驶。根据本公开实施例的方法,无需依赖高精地图、组合定位系统,在车道居中保持基础上,基于车道线及左右障碍物目标相对位置关系计算偏移后的虚拟车道线,从而能够简单可靠地且以低成本的方式控制车辆在车道内自适应偏移进而避让障碍物。
Method and apparatus for controlling vehicle, vehicle and computer program product
控制车辆的方法、设备、车辆和计算机程序产品
2024-06-25
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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