The invention discloses a vehicle transverse control method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining driving data of a target vehicle, determining a tracking control curve according to a tracking control curve model and the driving data when the driving data of the target vehicle meets a preset vehicle following condition, controlling a preset transverse controller according to the tracking control curve to determine a transverse control result, and controlling the vehicle to move according to the transverse control result. According to the embodiment of the invention, the tracking control curve is determined according to the driving data of the target vehicle and the tracking control curve model, the transverse control result of the preset transverse controller is determined according to the tracking control curve, and the transverse movement of the vehicle is controlled according to the transverse control result. The problems of large curve curvature and over-fitting existing in a fitting method based on a large number of historical driving track points of the target vehicle in the prior art are avoided, transverse control of the vehicle is smoother and more stable, and more memory resources do not need to be occupied.
本发明公开了一种车辆横向控制方法、装置、电子设备和存储介质。其中,该方法包括:获取目标车辆的行驶数据,在目标车辆的行驶数据满足预设跟车条件时,根据跟踪控制曲线模型和行驶数据确定跟踪控制曲线,根据跟踪控制曲线控制预设横向控制器确定横向控制结果,根据横向控制结果控制车辆运动。本发明实施例通过根据目标车辆的行驶数据和跟踪控制曲线模型确定跟踪控制曲线,再根据跟踪控制曲线去确定预设横向控制器的横向控制结果,进而按照横向控制结果控制车辆的横向运动,避免了现有技术中基于目标车辆的大量历史行驶轨迹点进行拟合方法存在的曲线曲率较大以及过拟合的问题,车辆的横向控制更加平滑和稳定,且不需要占用更多的内存资源。
Vehicle transverse control method and device, electronic equipment and storage medium
一种车辆横向控制方法、装置、电子设备和存储介质
2023-08-29
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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