The invention discloses a vehicle control method, device and equipment and a medium, and relates to the technical field of vehicle control. Firstly, the planned speed of a vehicle on each track section is determined according to the centrifugal force of the position where the vehicle is located, the radius of each track section and the relation between the vehicle weight and the speed; wherein the value of the centrifugal force of the position where the vehicle is located is determined by the friction coefficient between the vehicle and the road, the vehicle weight and the inclination angle of the road. Therefore, the actual condition of the road and the condition of the vehicle are considered, so that the planned speed of the vehicle is more appropriate, and the driving safety is improved; secondly, smoothing processing is carried out on the speed corresponding to each section of obtained curve, so that the precision of speed planning is higher, the planned speed is proper, and the stability of driving is ensured; and thirdly, the trajectory curve is segmented according to the azimuth angle threshold value, so that segmentation of the trajectory curve is more reasonable, the accuracy of speed planning is higher, and the safety of vehicle driving is improved.

    本发明公开了一种车辆控制方法、装置、设备及介质,涉及车辆控制技术领域。首先,根据车辆所在位置的离心力、各轨迹段的半径、车辆重量与速度之间关系确定车辆在各轨迹段上的规划速度;其中,车辆所在位置的离心力的值由车辆与道路之间的摩擦系数、车辆重量和道路的倾斜角确定。可见,考虑了道路的实际情况和车辆自身的情况,使得规划的车辆的速度更加合适,提高了行车的安全性;其次,对得到的各段曲线对应的速度进行平滑处理,使速度规划的精度更高、规划的速度合适,以及保证了行车的平稳性;再次,根据方位角阈值对轨迹曲线进行分段处理,使得对轨迹曲线的分段更加合理,速度规划的准确性更高,提高了车辆行驶的安全性。


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    Title :

    Vehicle control method, device, equipment and medium


    Additional title:

    一种车辆控制方法、装置、设备及介质


    Contributors:
    CUI RANRAN (author) / XU TIANYU (author) / HAN JIN (author)

    Publication date :

    2024-10-15


    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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