The invention relates to a vehicle control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: establishing a kinematic model of a target vehicle, and constructing a state equation for describing an error between an actual motion track and an expected motion track of the target vehicle according to the kinematic model; performing rolling optimization on the state equation according to a preset constraint and an optimization target to obtain a steering wheel angle instruction based on a kinematic model; the method comprises the following steps: scaling a steering wheel angle instruction according to a plurality of preset scaling coefficients to obtain a plurality of scaled steering wheel angle instructions, calculating a cost value of each scaled steering wheel angle instruction according to an error value between an actual vehicle response and an expected trajectory, determining a target cost value according to each cost value, and determining a target steering wheel angle instruction according to the target cost value. And determining a steering wheel angle instruction for controlling the target vehicle according to the target cost value. The steering wheel angle instruction obtained through the method is high in precision, calculation power consumption can be reduced, and calculation resources are saved.
本申请涉及一种车辆控制方法、装置、计算机设备、存储介质和计算机程序产品。所述方法包括:建立目标车辆的运动学模型,根据运动学模型构建描述目标车辆的实际运动轨迹与期望运动轨迹之间的误差的状态方程;根据预设约束和优化目标对状态方程进行滚动优化,得到基于运动学模型的方向盘转角指令;根据多个预设缩放系数缩放方向盘转角指令,得到多个缩放后的方向盘转角指令,根据实际车辆响应和期望轨迹之间的误差值计算各缩放后的方向盘转角指令的代价值,根据各代价值确定目标代价值,根据目标代价值确定用于控制目标车辆的方向盘转角指令。采用本方法得到的方向盘转角指令精度较高,且能够降低算力消耗,节省运算资源。
Vehicle control method and device, vehicle, computer equipment and storage medium
车辆控制方法、装置、车辆、计算机设备和存储介质
2025-01-28
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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