The invention discloses a vehicle control method and device, terminal equipment and a storage medium. The vehicle control method comprises the steps that vehicle pose data and track point data of a plurality of track points are acquired; the vehicle pose data comprises the current position of the vehicle; in the automatic parking process of the vehicle, determining a current preview point based on the current position of the vehicle and the trajectory point data; obtaining current preview point data from the trajectory point data based on the current preview point, and determining a current preview trajectory; acquiring a front wheel turning angle, and transverse deviation and course deviation between the vehicle and a current preview track based on the vehicle pose data and the current preview point data; converting and correcting the front wheel turning angle based on the transverse deviation and the course deviation to obtain a steering wheel turning angle control quantity; and controlling the vehicle according to the steering wheel angle control quantity. According to the invention, the control precision and trajectory tracking precision of the vehicle can be improved, and a smaller transverse error and a smaller course error are achieved, so that the tracking effect of the vehicle on the planned trajectory is improved.

    本发明公开了一种车辆控制方法、装置、终端设备及存储介质,所述车辆控制方法包括:获取车辆位姿数据和若干轨迹点的轨迹点数据;车辆位姿数据包括车辆当前位置;在车辆自动泊车过程中,基于车辆当前位置和所述轨迹点数据确定当前预瞄点;基于当前预瞄点在轨迹点数据中获取当前预瞄点数据,并确定当前预瞄轨迹;基于车辆位姿数据和当前预瞄点数据获取前轮转角、车辆与当前预瞄轨迹之间的横向偏差、航向偏差;基于横向偏差和航向偏差换算修正所述前轮转角,得到方向盘转角控制量;根据所述方向盘转角控制量对车辆进行控制。本发明能够提高车辆的控制精度和轨迹跟踪精度,达到更小的横向误差和航向误差,从而提高车辆对规划轨迹的跟踪效果。


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    Title :

    Vehicle control method and device, terminal equipment and storage medium


    Additional title:

    一种车辆控制方法、装置、终端设备及存储介质


    Contributors:
    JIANG YIFENG (author) / LIN ZHIGUI (author) / LUO TANYUE (author) / CHANG QICHUAN (author) / LEI XIN (author)

    Publication date :

    2025-01-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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