Vehicle control method and device, vehicle and storage medium
A vehicle control and vehicle technology, which is applied to vehicle components, trailer steering mechanisms, steering mechanisms, etc., can solve problems such as easy folding and collision, and achieve the effects of preventing folding, improving safety, and ensuring stability.
Pending Publication Date: 2022-04-26
HANGZHOU FABU TECH CO LTD
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Problems solved by technology
[0004] The present application provides a vehicle control method, equipment, vehicle and storage medium to solve the problem that large vehicles tend to fold and collide during the reversing process
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[0037] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.
[0038] With the increasing demand in transportation scenarios such as port yards, heavy-duty trucks consisting of tractors and trailers are widely used due to their large load capacity. However, the long body of this type of vehicle, coupled with the limitations of the installation of rearview mirrors and sideview mirrors, makes the viewing angle of the vehicle worse during the reversing...
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The invention provides a vehicle control method and device, a vehicle and a storage medium, and the vehicle control method comprises the steps: obtaining a prediction state value of the vehicle in a target time period according to a preset vehicle transverse dynamics model; determining an expected state value of the vehicle in the target time period according to the predicted state value and a target point on an expected backing track of the vehicle; and determining a front wheel steering angle of the vehicle in the target time period according to the predicted state value and the expected state value, so that the vehicle runs according to the front wheel steering angle. Due to the fact that the dynamic characteristics of rigid connection of the vehicle head and the trailer are considered in the process, it can be effectively guaranteed that the vehicle backs up according to the expected backing-up track, meanwhile, the stability of the vehicle in the backing-up process is guaranteed, the phenomena of folding, collision and the like of the vehicle are prevented, and the safety of the vehicle in the backing-up process is improved.
Description
technical field [0001] The present application relates to automatic driving technology, and in particular to a vehicle control method, device, vehicle and storage medium. Background technique [0002] With the continuous development of the logistics and transportation industry, the demand for large vehicles in today's society is also increasing, for example, heavy-duty trucks composed of tractors and trailers, etc. Poor characteristics make it more difficult to drive. [0003] In related technologies, in order to reduce driving difficulty and introduce automatic driving technology into such large vehicles, the current automatic driving technology usually uses a lateral control algorithm to control the driving of the vehicle. However, in the process of reversing, the connection between the two rigid bodies of the tractor head and the trailer is nonlinear, and the connection between the two is not stable enough, which will cause the vehicle to fold and collide. Contents of ...
Claims
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Login to View More IPC IPC(8): B60W30/06B62D13/00
CPCB60W30/06B62D13/00
Inventor 刘振刘石劬杨政何晓飞
Owner HANGZHOU FABU TECH CO LTD