The invention discloses a vehicle steering control method and system, automatic driving equipment and a readable storage medium, and belongs to the technical field of vehicle control, and the method comprises the following steps: determining a starting point and an ending point of a curve in a planned driving path; dividing the driving path into a plurality of sections based on the starting point and the ending point; determining a direction vector of each segment path; determining the vehicle speed of the vehicle front wheels of each segment of segmented path based on the direction vector; determining acceleration of the vehicle based on the vehicle speed; and controlling the running speed of the vehicle running along the curve based on the acceleration. According to the vehicle steering control method provided by the invention, the direction vector of each segmented path in the curve is calculated, and the vehicle speed of the front wheels of the vehicle is corrected according to the direction vector, so that the actual vehicle speed of the vehicle is consistent with the planned speed, the actual vehicle speed of the vehicle is smoothly controlled, sudden acceleration and deceleration of the vehicle are reduced, and the vehicle steering efficiency is improved. The shaking amplitude of the vehicle body is reduced, and the driving experience is improved.
本申请公开了一种车辆转向控制方法、系统、自动驾驶设备及可读存储介质,属于车辆控制技术领域,包括:确定规划好的行车路径中弯道的起始点和终止点;基于起始点和终止点将行车路径分成多段;确定每段分段路径的方向向量;基于方向向量确定每段分段路径的车辆前轮的车速;基于车速确定车辆的加速度;基于加速度控制车辆沿弯道行驶时的行驶速度。本申请提供的车辆转向控制方法,通过计算弯道中每个分段路径的方向向量,并根据方向向量对车辆前轮的车速进行矫正,使得车辆的实际车速与规划速度一致,车辆的实际车速控制平滑,减少了车辆突然的加速和减速,降低了车身的抖动幅度,提高了驾驶体验。
Vehicle steering control method and system, automatic driving equipment and readable storage medium
车辆转向控制方法、系统、自动驾驶设备及可读存储介质
2025-03-14
Patent
Electronic Resource
Chinese
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