VEHICLE CONTROL METHOD AND APPARATUS

A vehicle control method and apparatus are provided, and relate to the field of autonomous driving technologies. The method and apparatus includes: determining a value range of a front wheel steering angle change rate of a vehicle and a value range of a wheel torque of the vehicle based on a dynamic model of the vehicle, a kinematic model of a road on which the vehicle is located, a tire friction model of the vehicle, and status information of the vehicle; determining a value of the front wheel steering angle change rate of the vehicle based on the value range of the front wheel steering angle change rate of the vehicle and a lateral motion target function of the vehicle; determining a value of the wheel torque of the vehicle based on the value range of the wheel torque of the vehicle and a longitudinal motion target function of the vehicle; and controlling a motion of the vehicle based on the value of the front wheel steering angle change rate and the value of the wheel torque of the vehicle. Therefore, a problem that a planned path is inappropriate is avoided.