The invention relates to a longitudinal trajectory tracking method of an automatic driving vehicle, a controller and a storage medium. The longitudinal trajectory tracking method comprises the following steps: acquiring a current value and a target value of a longitudinal working condition parameter of the automatic driving vehicle; wherein the longitudinal working condition parameters comprise longitudinal acceleration; determining an expected value of the longitudinal acceleration according to the current value and the target value of the longitudinal working condition parameter; and controlling the autonomous vehicle to run according to the expected value of the longitudinal acceleration so as to eliminate the deviation between the current value and the target value of the longitudinal working condition parameter and realize longitudinal trajectory tracking of the autonomous vehicle. The expected longitudinal acceleration is determined based on the current value and the target value of the longitudinal working condition parameter of the autonomous vehicle, and the autonomous vehicle is controlled to run according to the expected longitudinal acceleration, so that the deviation between the current value and the target value of the longitudinal working condition parameter can be quickly eliminated, and real-time longitudinal trajectory tracking is performed on the autonomous vehicle; the safety requirements of various driving scenes are met, and the driving experience is improved.

    本申请涉及一种自动驾驶车辆的纵向轨迹跟踪方法、控制器及存储介质,其中纵向轨迹跟踪方法包括:获取自动驾驶车辆的纵向工况参数的当前值与目标值;其中,纵向工况参数包括纵向加速度;根据纵向工况参数的当前值与目标值,确定纵向加速度的期望值;根据纵向加速度的期望值控制自动驾驶车辆行驶,以消除纵向工况参数的当前值与目标值之间的偏差,实现对自动驾驶车辆的纵向轨迹跟踪。本申请基于自动驾驶车辆的纵向工况参数的当前值与目标值,确定期望纵向加速度,并根据期望纵向加速度控制自动驾驶车辆行驶,能够快速消除纵向工况参数的当前值与目标值之间的偏差,对自动驾驶车辆进行实时纵向轨迹跟踪,满足各种驾驶场景的安全要求,提升驾驶体验。


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    Title :

    Longitudinal trajectory tracking method of autonomous vehicle, controller and storage medium


    Additional title:

    自动驾驶车辆的纵向轨迹跟踪方法、控制器及存储介质


    Contributors:
    WANG GUOXU (author) / SEO JIN-YOUNG (author) / XIAO YANG (author)

    Publication date :

    2023-04-04


    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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