Method and device for controlling vehicle and vehicle
US12291230B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Aug 8, 2022 |
| Grant date | May 6, 2025 |
| Priority date | — |
| Expiry date | Aug 8, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2520/06
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Provided are a method and device for controlling a vehicle and a vehicle, and relates to the technical field of automatic driving. The method for controlling a vehicle includes: obtaining current state information of the vehicle, wherein the state information includes a position information and an attitude information; determining a preview tracking point from a plurality of path points of a target path to be tracked by the vehicle based on a reference information, wherein the reference information includes a preview time; determining a first turning angle and a second turning angle of a front wheel of the vehicle based on the position information and the attitude information, wherein the first turning angle is used for eliminating a distance error between the vehicle and the preview tracking point, and the second turning angle is used for eliminating a heading error between the vehicle and the preview tracking point; and performing a weighting calculation on the first turning angle and the second turning angle to determine a target turning angle for controlling the front wheel, wherein a minimum distance among a plurality of distances between the vehicle and the plurality of path …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.