The invention discloses an automatic driving vehicle control method and device and an automatic driving vehicle, and belongs to the field of automatic driving. The control method comprises the following steps: after acquiring vehicle information and a non-driving track of a target vehicle and acquiring road information and system delay time, firstly determining a target obstacle based on the size of the vehicle and the non-driving track, and calculating a relative distance based on motion information of the target obstacle; the minimum braking distance of the target vehicle is calculated based on the road information, the system delay time and the vehicle speed, when the relative distance is smaller than or equal to the minimum braking distance, it is indicated that the collision risk exists, and therefore the target vehicle needs to be controlled according to a preset control strategy. According to the scheme, the minimum braking distance is calculated from multiple dimensions, when to conduct braking control can be accurately judged in combination with the relative distance, and driving safety of the automatic driving vehicle in complex environments such as mines can be ensured.

    本申请公开了一种自动驾驶车辆控制方法、装置及自动驾驶车辆,属于自动驾驶领域。控制方法包括:在获取目标车辆的车辆信息和未行驶轨迹以及在获取道路信息和系统延迟时间后,先基于车辆大小和未行驶轨迹确定目标障碍物,基于目标障碍物的运动信息计算相对距离,并基于道路信息和系统延迟时间以及车辆速度计算目标车辆的最小制动距离,当所述相对距离小于或等于最小制动距离时,说明存在碰撞风险,因此需要按照预设控制策略对目标车辆进行控制。本申请方案从多个维度计算最小制动距离,结合相对距离能够准确的判断何时进行制动控制,能够确保自动驾驶车辆在矿山等复杂环境下的行驶安全。


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    Title :

    Automatic driving vehicle control method, device and system and automatic driving vehicle


    Additional title:

    自动驾驶车辆控制方法、装置和系统及自动驾驶车辆


    Contributors:
    LI ZEWEN (author) / YAO KUO (author) / DING LONGHUI (author) / LIU YUNFU (author)

    Publication date :

    2025-02-14


    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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