CN113632033A - 车辆控制方法及装置 - Google Patents
车辆控制方法及装置 Download PDFInfo
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Abstract
本申请公开了一种车辆控制方法及装置,涉及自动驾驶技术领域,用于根据车辆的动力学模型、道路的运动学模型、轮胎摩擦力模型和车辆的状态信息,来确定前轮转角变化率和车轮力矩的取值,从而避免规划路径不合适的问题。该方法包括:根据车辆的动力学模型、车辆所在道路的运动学模型、车辆的轮胎摩擦力模型、车辆的状态信息,确定车辆的前轮转角变化率的取值范围以及车辆的车轮力矩的取值范围。根据车辆的前轮转角变化率的取值范围及车辆的横向运动目标函数,确定车辆的前轮转角变化率的取值。根据车辆的车轮力矩的取值范围及车辆的纵向运动目标函数,确定车辆的车轮力矩的取值。根据车辆的前轮转角变化率的取值和车轮力矩的取值,控制车辆运动。
Description
PCT国内申请,说明书已公开。
Claims (25)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/CN2020/076678 WO2021168669A1 (zh) | 2020-02-25 | 2020-02-25 | 车辆控制方法及装置 |
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CN113632033A true CN113632033A (zh) | 2021-11-09 |
CN113632033B CN113632033B (zh) | 2023-10-20 |
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EP (1) | EP4099118A4 (zh) |
CN (1) | CN113632033B (zh) |
WO (1) | WO2021168669A1 (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113515038B (zh) * | 2021-09-07 | 2021-11-26 | 西南交通大学 | 一种车辆换道方法、装置、设备及可读存储介质 |
CN114003030B (zh) * | 2021-10-09 | 2023-08-08 | 北京科技大学 | 考虑质心变化的两轮差动移动机器人路径跟踪控制方法 |
CN114148318B (zh) * | 2021-12-22 | 2023-10-27 | 吉林大学 | 冰雪环境下基于反馈线性化与lqr的车辆路径跟踪方法 |
CN115092156A (zh) * | 2022-06-27 | 2022-09-23 | 中国第一汽车股份有限公司 | 车辆的操纵稳定区域的确定方法与车辆 |
DE102022212523A1 (de) | 2022-11-23 | 2024-05-23 | Volkswagen Aktiengesellschaft | Verfahren zum Planen eines menschenähnlichen Einparkvorgangs eines Kraftfahrzeugs, elektronische Recheneinrichtung für ein Kraftfahrzeug sowie Kraftfahrzeug |
CN116202550B (zh) * | 2023-05-06 | 2023-07-11 | 华东交通大学 | 融合改进势场与动态窗口的汽车路径规划方法 |
CN118205551A (zh) * | 2024-05-22 | 2024-06-18 | 中国第一汽车股份有限公司 | 自适应巡航车速控制方法、装置、车辆、介质及产品 |
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- 2020-02-25 CN CN202080002617.0A patent/CN113632033B/zh active Active
- 2020-02-25 EP EP20921027.7A patent/EP4099118A4/en active Pending
- 2020-02-25 WO PCT/CN2020/076678 patent/WO2021168669A1/zh unknown
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Publication number | Publication date |
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EP4099118A1 (en) | 2022-12-07 |
EP4099118A4 (en) | 2023-01-25 |
CN113632033B (zh) | 2023-10-20 |
WO2021168669A1 (zh) | 2021-09-02 |
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