{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
      "$link": "bafkreiakfni6qe57ttopkv7m6fieiwpimot5dwi3aa7f724f5jer5bq56i"
    },
    "mimeType": "image/png",
    "size": 90437
  },
  "description": "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…",
  "path": "/patents/1404128",
  "publishedAt": "2025-05-21T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/02",
    "HUAWEI TECH CO LTD [CN]"
  ],
  "textContent": "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.",
  "title": "VEHICLE CONTROL METHOD AND APPARATUS"
}