The invention relates to the technical field of vehicle control, and provides a vehicle control method and device, terminal equipment and a storage medium. The method comprises the steps that in the process that a vehicle runs according to a preset planned path, a state parameter error between a control point and a reference point is calculated according to a vehicle kinematics model constructed by taking one point on a vehicle body as the control point; selecting one point except the control point from the vehicle body as a target deviation point; according to the transverse error of the target deviation point and the previous state parameter error, a vehicle control instruction is generated; wherein the transverse error is the distance between the target deviation point and the planned path in the transverse direction perpendicular to the driving direction of the vehicle; and controlling the vehicle according to the vehicle control instruction. By adopting the method, the deviation between the whole vehicle body and the planned path can be reduced to a certain extent, and the collision risk is reduced.

    本申请涉及车辆控制技术领域,提出一种车辆控制方法、装置、终端设备和存储介质。该方法包括:在车辆按照预设的规划路径行驶的过程中,根据以车辆车体上的一点作为控制点构建得到的车辆运动学模型,计算得到控制点与参考点之间的状态参数误差;从车体上选取除控制点之外的一点作为目标偏差点;根据目标偏差点的横向误差和之前的状态参数误差,生成车辆控制指令;其中,横向误差为目标偏差点和规划路径在与车辆的行驶方向垂直的横向方向上的距离;根据车辆控制指令对车辆进行控制。采用该方法能够在一定程度上减小车身整体和规划路径之间的偏差,减小碰撞风险。


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    Title :

    Vehicle control method and device, terminal equipment and storage medium


    Additional title:

    一种车辆控制方法、装置、终端设备和存储介质


    Contributors:
    YAO LI (author) / CHAI TIAN (author) / HU SIBO (author) / SHENG WEITIAN (author)

    Publication date :

    2024-05-17


    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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