The invention discloses a vehicle control method, device and equipment and a computer readable storage medium, and is applied to the field of vehicle control, and the method comprises the steps: before a vehicle enters a curve, obtaining the speed of each point on a curve planned driving track of the vehicle and a first distance, the first distance being a longitudinal vertical distance between a vehicle head and a lane line; calculating the relaxation degree of each point according to the speed of each point and the first distance; and taking the point which does not meet the relaxation condition in the relaxation degree of each point as a target point, and enabling the relaxation degree of each point to meet the relaxation condition by increasing the first distance of the target point and/or reducing the speed of the target point. By adjusting the first distance and/or speed of the vehicle, when the vehicle formally enters the curve, the slack degree of each point on the curve planned driving track can reach the slack condition, the psychological stress on a driver caused by automatic auxiliary driving when the vehicle enters the curve is reduced, the user experience is improved, and the user experience is improved. And the turning safety of the vehicle is also improved.

    本发明公开了一种车辆控制方法、装置、设备及计算机可读存储介质,应用于车辆控制领域,包括:当车辆进入弯道前,获取车辆的弯道规划行驶轨迹上各点的速度和第一距离,第一距离为车头与车道线的纵向垂直距离;根据各点的速度和第一距离计算得到各点的松弛度;将各点的松弛度中不满足松弛条件的点作为目标点,通过增大目标点的第一距离和/或减小目标点的速度,以使各点的松弛度满足松弛条件。本发明通过调节车辆的第一距离和/或速度使得在车辆正式进入弯道时,弯道规划行驶轨迹上的各点松弛度都能够达到松弛条件,减小在车辆进入弯道时使用自动辅助驾驶对驾驶员的心理压力,提升用户体验感,也提高了车辆转弯时的安全性。


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    Title :

    Vehicle control method, device and equipment and computer readable storage medium


    Additional title:

    一种车辆控制方法、装置、设备及计算机可读存储介质


    Contributors:
    XU TIANYU (author) / HAN JIN (author) / LIU JIAQI (author) / SONG YANG (author)

    Publication date :

    2025-05-09


    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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