The invention relates to an unmanned vehicle control method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining an initial speed limit curve of an unmanned vehicle and a current speed corresponding to a current position point of the unmanned vehicle; determining the size relation between the current speed and the speed of the corresponding current position point on the initial speed limit curve, and performing acceleration filtering processing and deceleration filtering processing on the initial speed limit curve according to the size relation to obtain an acceleration filtering curve and a deceleration filtering curve; obtaining each speed corresponding to the same position point on the initial speed limit curve, the acceleration filtering curve and the deceleration filtering curve, and determining a target speed meeting a specified condition in each speed to obtain a fusion filtering curve; and according to the fusion filtering curve, carrying out driving control on the unmanned vehicle. In this way, a smoother fusion filtering curve can be obtained under the condition that the calculation complexity is not increased, and then more accurate and stable driving control over the unmanned vehicle can be achieved through the fusion filtering curve.
本公开涉及无人驾驶车辆控制方法、装置、电子设备及存储介质,其方法包括:获取无人驾驶车辆的初始限速曲线和无人驾驶车辆在当前位置点对应的当前速度;确定当前速度与初始限速曲线上对应当前位置点的速度之间的大小关系,并根据大小关系对初始限速曲线分别进行加速滤波处理和减速滤波处理,得到加速滤波曲线和减速滤波曲线;获取初始限速曲线、加速滤波曲线和减速滤波曲线上对应同一位置点的各个速度,确定各个速度中满足指定条件的目标速度获得融合滤波曲线;根据融合滤波曲线,对无人驾驶车辆进行行驶控制。这样可以在不增加计算复杂度的情况下,得到更加平滑的融合滤波曲线,进而可以通过融合滤波曲线实现对无人驾驶车辆更加准确和平稳的行驶控制。
Unmanned vehicle control method and device, electronic equipment and storage medium
无人驾驶车辆控制方法、装置、电子设备及存储介质
2023-11-17
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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