US 12,291,230 B2
Method and device for controlling vehicle and vehicle
Shuai Zuo, Xuzhou (CN); Liang Gao, Xuzhou (CN); Ming Chen, Xuzhou (CN); and Chenghao Liu, Xuzhou (CN)
Assigned to JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD., Xuzhou (CN); and XCMG AGRICULTURAL EQUIPMENT TECHNOLOGY CO., LTD., Xuzhou (CN)
Appl. No. 18/023,247
Filed by JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD., Xuzhou (CN); and XCMG AGRICULTURAL EQUIPMENT TECHNOLOGY CO., LTD., Xuzhou (CN)
PCT Filed Aug. 8, 2022, PCT No. PCT/CN2022/110758
§ 371(c)(1), (2) Date Feb. 24, 2023,
PCT Pub. No. WO2024/016395, PCT Pub. Date Jan. 25, 2024.
Claims priority of application No. 202210855251.2 (CN), filed on Jul. 20, 2022.
Prior Publication US 2024/0270277 A1, Aug. 15, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/10 (2012.01); B62D 6/00 (2006.01)
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
OG exemplary drawing
 
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.