The invention discloses a control method and device for an autonomous vehicle, electronic equipment and a storage medium. The control method comprises the steps of detecting whether a control instruction issued by a host to a DBW is received or not; when the duration during which the control instruction is not received is longer than the preset duration, according to the current yaw velocity of the vehicle, obtaining the current driving state, which corresponds to the current yaw velocity, of the vehicle from a corresponding relation table of the yaw velocity and the driving state; and according to the current driving state, searching a target instruction matched with the current driving state from the preset instructions to control the vehicle. After the fact that the control command issued by the host is overtime is detected, the current driving state of the vehicle is obtained according to the current yaw velocity of the vehicle, and then the vehicle is controlled by adopting the corresponding target command according to the current driving state, so that the safety of the autonomous vehicle is improved when the control command issued by the host to the DBW is delayed.

    本申请公开了一种自动驾驶车辆的控制方法、装置、电子设备及存储介质,包括:检测是否接收到主机向DBW下发的控制指令;当未接收到控制指令的时长大于预设时长时,根据车辆的当前横摆角速度,从横摆角速度与行驶状态的对应关系表中,获取与当前横摆角速度对应的车辆的当前行驶状态;根据当前行驶状态,从各预设指令中查找与当前行驶状态相匹配的目标指令对车辆进行控制。通过在检测到主机下发的控制指令超时,根据车辆的当前横摆角速度获取车辆的当前行驶状态后,根据当前行驶状态采用对应的目标指令对车辆进行控制,提高当主机向DBW下发的控制命令延迟时,自动驾驶车辆的安全性。


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    Title :

    Control method and device of autonomous vehicle, electronic equipment and storage medium


    Additional title:

    自动驾驶车辆的控制方法、装置、电子设备及存储介质


    Contributors:
    LI JINPENG (author) / XU XINYI (author) / ZHAO YIMING (author) / LIU PENG (author) / SHAO YUYANG (author) / HAN XU (author)

    Publication date :

    2022-02-18


    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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