车辆的控制方法、装置和车辆

• Format: Patent
• Language: Chinese
• Published: 06.08.2024
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

本公开涉及一种车辆的控制方法、装置和车辆，该方法包括：获取车辆周围障碍物的测量信息，以确定障碍物的运动模型，根据车辆的方向盘转角和障碍物的运动模型，确定目标障碍物，根据目标障碍物的相对速度和所述车辆的行驶信息，确定第一距离阈值和第二距离阈值，若目标障碍物的相对距离小于或等于第一距离阈值，根据目标障碍物的运动模型确定第一减速度，并控制车辆的驱动电机的扭矩，以使车辆按照第一减速度行驶，若目标障碍物的相对距离小于或等于第二距离阈值，根据目标障碍物的运动模型确定第二减速度，并控制驱动电机的扭矩，和/或控制车辆的气压制动模块的扭矩，以使车辆按照第二减速度行驶。能够提高制动过程的平稳程度。 The invention relates to a vehicle control method and device and a vehicle, and the method comprises the steps: obtaining the measurement information of obstacles around the vehicle to determine the motion model of the obstacles, determining a target obstacle according to the steering wheel angle of the vehicle and the motion model of the obstacles; according to the relative speed of the target obstacle and the driving information of the vehicle, determining a first distance threshold value and a second distance threshold value; if the relative distance of the target obstacle is smaller than or equal to the first distance threshold value, determining a first deceleration according to a motion model of the target obstacle,