The invention provides a vehicle controller, a vehicle and a vehicle control method, and relates to the technical field of vehicles. Wherein the vehicle controller comprises a processing module and a control module, the processing module is connected with the control module, and the processing module is used for determining a sampling point area used for vehicle path planning based on a kinematic model of a vehicle, determining a plurality of target sampling points in the sampling point area according to the obstacle condition in the driving range of the vehicle; determining a plurality of paths based on the plurality of target sampling points, and selecting a target path from the plurality of paths; and the control module is used for controlling the vehicle to run according to the target path. The path planning method can reduce path planning time consumption.
本申请提供了一种车辆控制器、车辆及车辆控制方法,涉及车辆技术领域。其中,所述车辆控制器包括处理模块和控制模块,所述处理模块和所述控制模块相连接,其中:所述处理模块用于:基于车辆的运动学模型确定用于车辆路径规划的采样点区域,并根据所述车辆的行驶范围内的障碍物状况确定所述采样点区域内的多个目标采样点;基于所述多个目标采样点确定多条路径,并从所述多条路径中选择目标路径;所述控制模块用于:控制车辆按照所述目标路径行驶。本申请能够降低路径规划耗时。
Vehicle controller, vehicle and vehicle control method
车辆控制器、车辆及车辆控制方法
2023-03-28
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |