The invention provides a control method and device for in-situ turning of a vehicle. The control method comprises the steps that whether the mass center of a target vehicle has a deviation trend or not is determined in real time; if the mass center of the target vehicle has the deviation trend, determining a compensation coefficient of the mass center offset based on the deviation trend and the mass center offset of the target vehicle corresponding to the deviation trend; determining the real-time wheel speed of the target vehicle based on the compensation coefficient; and controlling the target vehicle to rotate according to the real-time wheel speed so as to realize turning of the target vehicle. According to the control method, the mass center of the vehicle can be prevented from deviating in the in-situ turning process of the vehicle, and therefore the risk that the vehicle is out of control in the turning process is reduced.

    本申请提供了一种车辆原地掉头的控制方法和控制装置,控制方法包括:实时确定目标车辆的质心是否出现偏移趋势;如果所述目标车辆的质心出现偏移趋势,则基于所述偏移趋势和所述偏移趋势所对应的所述目标车辆的质心偏移量,确定质心偏移量的补偿系数;基于所述补偿系数,确定所述目标车辆的实时轮速;控制所述目标车辆按照所述实时轮速转动,以实现目标车辆的掉头。所述控制方法,能够避免车辆在原地掉头的过程中车辆的质心发生偏移,从而减小在掉头过程中车辆失控的风险。


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    Title :

    Control method and control device for in-situ turning of vehicle


    Additional title:

    一种车辆原地掉头的控制方法和控制装置


    Contributors:

    Publication date :

    2024-02-27


    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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