The invention discloses a lateral control method and device for an autonomous vehicle, a storage medium and equipment. The method comprises the steps: acquiring current attitude information and to-be-driven destination information of a target vehicle; determining reference trajectory information according to the to-be-driven destination information and a preset trajectory planning model; determining a target error amount according to the current attitude information, the reference trajectory information and a first preset fuzzy control model; and controlling the driving trajectory of the target vehicle according to the target error amount. The target error amount is determined through the current attitude information, the reference trajectory information and the first preset fuzzy control model, and the driving trajectory of the target vehicle is controlled according to the target error amount. Compared with the prior art that a control algorithm is large in calculation amount and the trajectory tracking capability is poor, the requirement on the computing power of the controller is effectively reduced, and the trajectory tracking capability is improved.

    本发明公开了一种自动驾驶车辆的横向控制方法、设备、存储介质及装置,本发明通过获取目标车辆的当前姿态信息和待行驶目的地信息;根据所述待行驶目的地信息和预设轨迹规划模型确定参考轨迹信息;根据所述当前姿态信息、所述参考轨迹信息及第一预设模糊控制模型确定目标误差量;根据所述目标误差量控制目标车辆的行驶轨迹。由于本发明通过当前姿态信息、所述参考轨迹信息及第一预设模糊控制模型确定目标误差量,根据目标误差量控制目标车辆的行驶轨迹,本发明相对于现有技术中控制算法计算量大,导致轨迹跟踪能力差,本发明实现了有效降低对控制器的计算力要求,提升轨迹跟踪能力。


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    Title :

    Lateral control method and device for autonomous vehicle, storage medium and equipment


    Additional title:

    自动驾驶车辆的横向控制方法、设备、存储介质及装置


    Contributors:
    PENG BINGSHUN (author) / ZHOU JUNWU (author) / ZHANG CHENGTAO (author) / LIANG GUOQUAN (author) / WEI HONGHUI (author) / YUAN HENG (author) / MENG LIKANG (author) / YU XIONGHOU (author)

    Publication date :

    2021-11-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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