Vehicle control method and device, vehicle and storage medium
Vehicle control method and device, vehicle and storage medium
The embodiment of the invention discloses a vehicle control method and device, a vehicle and a storage medium. The method comprises the steps that the road curvature of a target driving road section is calculated; determining a prediction time domain according to the road curvature, wherein the prediction time domain refers to prediction duration corresponding to the road curvature; generating a target control instruction sequence in a prediction time domain according to the driving scene information and the state information of the target vehicle; and controlling the target vehicle to run on the target driving road section according to the target control instruction sequence. In the embodiment of the invention, the prediction time domain can be determined according to the road curvature of the to-be-driven road section, and the road curvature can reflect the complexity of the road, that is, the prediction time domain is changed according to the complexity of the road, so that the calculated control instruction sequence is more adaptive to the road condition; according to the method, the problems that computing resource consumption is too large, computing real-time performance cannot meet requirements, and control performance is poor due to the fact that a fixed prediction time domain is used are solved, and good control performance can be kept while computing resource consumption is reduced.
本发明实施例公开了一种车辆控制方法、装置、车辆和存储介质，该方法包括：计算目标行驶路段的道路曲率；根据道路曲率确定预测时域，预测时域指该道路曲率对应的预测时长；根据行驶场景信息和目标车辆的状态信息生成预测时域内的目标控制指令序列；根据目标控制指令序列控制目标车辆在目标行驶路段行驶。本发明实施例中，可以根据要行驶的路段的道路曲率确定预测时域，道路曲率可以反映道路的复杂程度，即预测时域是根据道路的复杂程度变化的，因而计算出的控制指令序列与道路情况更适配，避免了使用固定预测时域产生的计算资源消耗过大、计算实时性无法满足要求、控制表现不好等问题，能够在降低计算资源消耗的同时保持良好的控制表现。
Document information
Vehicle control method and device, vehicle and storage medium
车辆控制方法、装置、车辆和存储介质
2022-03-22
Patent
Electronic Resource
Chinese
| 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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