The invention relates to a vehicle control method and device, a vehicle, a storage medium and a program product, and relates to the technical field of automatic driving. The method is applied to a controller of a first vehicle, and comprises the following steps: controlling a prediction thread to obtain driving data of a second vehicle from a main thread; the main thread is used for collecting driving data of surrounding vehicles in the driving process of the first vehicle; the second vehicle is any vehicle around the first vehicle; the prediction thread is asynchronous with the main thread; controlling the main thread to obtain a first prediction track of the second vehicle from the prediction thread; the prediction thread is used for determining a first prediction track of the second vehicle based on the driving data of the second vehicle; correcting the first predicted trajectory of the second vehicle through the main thread to obtain a second predicted trajectory of the second vehicle; and controlling, by the main thread, the first vehicle based on the second predicted trajectory of the second vehicle. The prediction thread operation frequency can be prevented from being influenced by the main thread, so that the time-sharing limitation of the GPU is met, and the performance of the automatic driving system is ensured.

    本申请涉及一种车辆控制方法、装置、车辆、存储介质及程序产品,涉及自动驾驶技术领域。该方法应用于第一车辆的控制器,包括:控制预测线程从主线程中获取第二车辆的行驶数据;主线程用于在第一车辆行驶过程中采集周围车辆的行驶数据;第二车辆为第一车辆周围的任一车辆;预测线程异步于主线程;控制主线程从预测线程中获取第二车辆的第一预测轨迹;预测线程用于基于第二车辆的行驶数据确定第二车辆的第一预测轨迹;通过主线程修正第二车辆的第一预测轨迹,得到第二车辆的第二预测轨迹;通过主线程,基于第二车辆的第二预测轨迹对第一车辆进行控制。可以避免预测线程运行频率受主线程的影响,从而满足GPU的分时限制,保证自动驾驶系统的性能。


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    Title :

    Vehicle control method and device, vehicle, storage medium and program product


    Additional title:

    一种车辆控制方法、装置、车辆、存储介质及程序产品


    Contributors:
    ZHANG ZHONGXU (author) / BIAN YICHENG (author) / LIN ZHONGTAO (author) / QIU LIHONG (author)

    Publication date :

    2024-10-08


    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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