The invention provides a control method and device of an automatic driving vehicle, electronic equipment and a storage medium. The method comprises the steps of obtaining a first driving parameter and an acceleration parameter of a target vehicle; the acceleration parameters comprise angular acceleration and linear acceleration; generating a second driving parameter at least based on the first driving parameter and the acceleration parameter; taking the second driving parameter as an input parameter of a trained neural network model, and acquiring an output parameter of the neural network model, the output parameter including a target course angle and a target lateral offset; determining a target error at least based on the target course angle and the target lateral offset; whether the target error is smaller than a preset threshold value or not is judged, if not, the acceleration parameter is adjusted, and the step of obtaining the first driving parameter and the acceleration parameter of the target vehicle is executed again; if yes, controlling the target vehicle to run under the acceleration parameter; according to the invention, the control precision is improved.
本申请提供了自动驾驶车辆的控制方法、装置、电子设备以及存储介质,方法包括:获取目标车辆的第一行驶参数以及加速度参数;所述加速度参数包括角加速度和线加速度;至少基于所述第一行驶参数和所述加速度参数生成第二行驶参数;将所述第二行驶参数作为已训练的神经网络模型的输入参数,获取所述神经网络模型的输出参数,所述输出参数包括目标航向角和目标横向偏移;至少基于所述目标航向角和所述目标横向偏移确定目标误差;判断所述目标误差是否小于预设阈值,若否,对所述加速度参数进行调整,再次进入所述获取目标车辆的第一行驶参数和加速度参数的步骤;若是,控制所述目标车辆在所述加速度参数下行驶;通过本申请提高了控制精度。
Control method and device of autonomous vehicle, electronic equipment and storage medium
自动驾驶车辆的控制方法、装置、电子设备及存储介质
2023-08-01
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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