A vehicle control method, device, terminal equipment and storage medium

By calculating the deviation between the vehicle and the pre-aimed trajectory and correcting the front wheel angle, the problem of insufficient vehicle control precision in pure tracking algorithms is solved, achieving higher trajectory tracking accuracy and safety.

CN119348709BActive Publication Date: 2026-06-09SAIC GM WULING AUTOMOBILE CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SAIC GM WULING AUTOMOBILE CO LTD
Filing Date
2024-11-27
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

Existing pure tracking algorithms increase lateral and heading errors between the vehicle and the planned path during automatic parking, resulting in insufficient vehicle control and trajectory tracking accuracy, and an inability to effectively track the planned trajectory.

Method used

By acquiring vehicle position and trajectory data, the current aiming point and aiming trajectory are calculated, and the lateral deviation and heading deviation are obtained. Based on these deviations, the front wheel angle is corrected to obtain the steering wheel angle control value. The steering wheel angle is then dynamically adjusted to improve vehicle control accuracy.

Benefits of technology

It improves the vehicle's tracking and control accuracy on the planned trajectory, reduces lateral and heading errors, avoids the risk of vehicle collisions, and achieves better trajectory tracking results.

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    Figure CN119348709B_ABST
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Abstract

This invention discloses a vehicle control method, device, terminal equipment, and storage medium. The vehicle control method includes: acquiring vehicle pose data and trajectory point data of several trajectory points; the vehicle pose data includes the vehicle's current position; during automatic parking, determining a current aiming point based on the vehicle's current position and the trajectory point data; acquiring current aiming point data from the trajectory point data based on the current aiming point, and determining the current aiming trajectory; acquiring the front wheel angle, lateral deviation, and heading deviation between the vehicle and the current aiming trajectory based on the vehicle pose data and the current aiming point data; converting and correcting the front wheel angle based on the lateral deviation and heading deviation to obtain a steering wheel angle control value; and controlling the vehicle according to the steering wheel angle control value. This invention can improve the vehicle's control accuracy and trajectory tracking accuracy, achieving smaller lateral and heading errors, thereby improving the vehicle's tracking effect on the planned trajectory.
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