The invention relates to an automatic driving control method and device, electronic equipment and a storage medium. Comprising the steps that after a planned driving track of a to-be-controlled target is obtained, a next target track point can be determined according to vehicle speed information of the to-be-controlled target; according to the position information, the speed information and the acceleration information of the to-be-controlled target and the next target track point, predicting and calculating the acceleration of the initial target; and combining a feedback error of a previous period to predict a final target acceleration. Error superposition is avoided, and the accuracy is improved; based on the final target acceleration, accelerator and brake control over the to-be-controlled target is completed, so that the to-be-controlled target travels towards the next target track point; and vehicle longitudinal control is realized.
本申请涉及一种自动驾驶控制方法、装置、电子设备和存储介质。包括在获取到待控制目标的规划行驶轨迹后,能够根据待控制目标的车速信息实现对下一目标轨迹点的确定;进而根据待控制目标与该下一目标轨迹点的位置信息、速度信息和加速度信息,实现对初始目标加速度的预测计算;并结合前一周期的反馈误差,预测得到最终目标加速度;避免误差叠加,提高准确性;并基于该最终目标加速度完成对该待控制目标的油门与制动控制,以向该下一目标轨迹点行驶;实现车辆纵向控制。
Automatic driving control method and device, electronic equipment and storage medium
一种自动驾驶控制方法、装置、电子设备和存储介质
2023-06-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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