The invention provides a control method of an automatic driving vehicle, and relates to the technical field of unmanned vehicles, in particular to a control device of the automatic driving vehicle, electronic equipment and a storage medium. According to the specific implementation scheme, whether current motion state parameters of a target vehicle meet preset braking constraint conditions or not is determined; under the condition that the braking constraint condition is met, the current speed value of the target vehicle and a first braking control value corresponding to the speed value are obtained; according to the speed value, a matched braking control value constraint parameter is determined; obtaining a second brake control value according to the brake control value constraint parameter and the first brake control value; wherein the second braking control value is used for controlling the target vehicle to run. According to the method, when it is detected that the vehicle needs braking constraint, the first braking control value currently output by the vehicle is constrained, the second braking control value is obtained, and therefore fluctuation of the braking control value can be effectively constrained, and vehicle oscillation is restrained.
本公开提供了一种自动驾驶车辆的控制方法,涉及无人车技术领域领域,尤其涉及自动驾驶车辆的控制装置、电子设备及存储介质。具体实现方案为:确定目标车辆当前的运动状态参数是否满足预设的制动约束条件;在满足制动约束条件的情况下,获取目标车辆当前的速度值和与速度值对应的第一制动控制值;根据速度值,确定相匹配的制动控制值约束参数;根据制动控制值约束参数和第一制动控制值,得到第二制动控制值;其中,第二制动控制值用于控制目标车辆行驶。本公开提供的方法能够在检测到车辆需要制动约束时,对车辆当前输出的第一制动控制值进行约束,得到第二制动控制值,从而能够有效对制动控制值的波动进行约束,抑制车辆震荡。
Control method and device of autonomous vehicle, electronic equipment and storage medium
自动驾驶车辆的控制方法、装置、电子设备及存储介质
03.10.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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