The invention relates to a vehicle driving state control method and device, computer equipment and a storage medium. The method comprises the steps of: acquiring lane sampling points on lane lines ontwo sides of a vehicle within a preset sensing distance; determining a sampling point arc curve corresponding to the lane sampling points according to a preset arc curve determination rule, and determining the curve curvature of the sampling point arc curve; determining a curvature control space according to a preset constraint condition and the curve curvature; determining a target control spacefrom the curvature control space, and discretizing the target control space to obtain an alternative control space set; and determining a control command curvature from the alternative control space set through a preset command evaluation condition, and controlling the driving state of the vehicle through the control command curvature. By adopting the method, the vehicle driving state can be accurately controlled.
本申请涉及一种车辆行驶状态控制方法、装置、计算机设备和存储介质。所述方法包括:获取在预设的感知距离内车辆两侧车道线上的车道采样点;根据预设的圆弧曲线确定规则,确定车道采样点对应的采样点圆弧曲线,并确定采样点圆弧曲线的曲线曲率;根据预设的约束条件和曲线曲率确定曲率控制空间;从曲率控制空间中确定目标控制空间,并对目标控制空间进行离散化处理,得到备选控制空间集;通过预设的命令评价条件,从备选控制空间集中确定控制命令曲率,并通过控制命令曲率控制车辆的行驶状态。采用本方法能够准确对车辆行驶状态进行控制。
Vehicle driving state control method and device, computer equipment and storage medium
车辆行驶状态控制方法、装置、计算机设备和存储介质
2020-09-22
Patent
Electronic Resource
Chinese
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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