The invention relates to an automatic driving vehicle control method, terminal equipment and a storage medium, and the method comprises the steps: S1, collecting the current road information of a vehicle, the road information comprising traffic light information and the highest driving speed corresponding to the current road; s2, calculating the obstacle distance and the collision time of the obstacle and the vehicle in the driving process of the vehicle; s3, calculating the target speed of the vehicle driving to the obstacle; s4, control output is calculated according to the size relation between the obstacle distance and the obstacle safety distance and the size relation between the collision time and the safety collision time; and S5, after the control output is converted into the accelerator control quantity and the brake control quantity, the converted accelerator control quantity and brake control quantity are adopted to control the vehicle. According to the invention, the safety and comfort of automatic driving control are improved.
本发明涉及一种自动驾驶车辆控制方法、终端设备及存储介质,该方法中包括:S1:采集车辆当前道路信息,所述道路信息包括红绿灯信息和当前道路对应的最高行驶速度;S2:在车辆行驶过程中计算障碍物距离和障碍物与车辆的碰撞时间;S3:计算车辆行驶至障碍物的目标车速;S4:根据障碍物距离与障碍物安全距离之间的大小关系,和碰撞时间与安全碰撞时间之间的大小关系,计算控制输出;S5:将控制输出转换为油门控制量和制动控制量后,采用转换后的油门控制量和制动控制量对车辆进行控制。本发明实现了对自动驾驶控制的安全性与舒适性进行了提升。
Automatic driving vehicle control method, terminal equipment and storage medium
一种自动驾驶车辆控制方法、终端设备及存储介质
2022-12-06
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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