CPC B60W 60/001 (2020.02) [B60W 40/10 (2013.01); B62D 6/002 (2013.01); B60W 2300/15 (2013.01); B60W 2520/06 (2013.01)] | 19 Claims |
1. A method for controlling a vehicle, comprising:
obtaining current state information of the vehicle, wherein the state information comprises 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 comprises 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;
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; and
controlling the front wheel of the vehicle to rotate at the target turning angle,
wherein a minimum distance among a plurality of distances between the vehicle and the plurality of path points is a first distance, and the preview time and a weight corresponding to the first turning angle are both positively correlated with the first distance in a case where the first distance is within a preset distance range.
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