Vehicle control methods, vehicles, and storage media
By acquiring vehicle motion state and center of gravity sideslip angle data to plan trajectory curves, the vehicle is allowed to perform obstacle avoidance maneuvers under conditions exceeding the friction of the drive wheels. This solves the problem of drivers having difficulty coordinating lateral and longitudinal braking in existing technologies, and enables safe obstacle avoidance for vehicles.
CN115214644BActive Publication Date: 2026-05-26DONGFENG MOTOR CO LTD DONGFENG NISSAN PASSENGER VEHICLE CO
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DONGFENG MOTOR CO LTD DONGFENG NISSAN PASSENGER VEHICLE CO
- Filing Date
- 2022-06-30
- Publication Date
- 2026-05-26
Smart Images
Figure CN115214644B_ABST
Abstract
This invention discloses a vehicle control method, a vehicle, and a storage medium. The method includes: determining multiple candidate trajectory curves based on first motion state data and first centroid sideslip angle data of a starting point corresponding to the vehicle's current position, and multiple second motion state data and multiple second centroid sideslip angle data of an ending point corresponding to the current position; the candidate trajectory curves characterize the changes in the vehicle's motion position and centroid sideslip angle over time, and the frictional force experienced by the vehicle corresponding to the candidate trajectory curve is allowed to be greater than the maximum frictional force provided by the vehicle's drive wheels; determining the candidate trajectory curve that satisfies the target obstacle avoidance conditions as the vehicle's target trajectory curve; and controlling the vehicle's operation based on the target trajectory curve. This invention aims to enable the vehicle to effectively avoid obstacles and improve the driving safety during obstacle avoidance.
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