The embodiment of the invention discloses an automatic driving control method and device, electronic equipment and a storage medium. The method comprises the steps that a driving starting instruction sent by a user is received, and vehicle state information at the current moment is obtained in response to the driving starting instruction; calculating a target front wheel turning angle of the vehicle at the current moment based on the vehicle state information, a predetermined reference path, pre-acquired vehicle parameters and a pre-established sliding mode prediction controller; and controlling the vehicle to run according to the target front-wheel steering angle. According to the method, the sliding mode prediction controller based on equivalent prediction is designed, the front wheel turning angle of the vehicle can be accurately calculated according to the state information of the vehicle at the current moment through the sliding mode prediction controller, the efficiency and accuracy of transverse control over the vehicle in automatic driving are improved, and the user experience is further improved.

    本发明实施例公开了一种自动驾驶控制方法、装置、电子设备和存储介质。该方法包括:接收用户发送的行驶启动指令,响应于行驶启动指令,获取当前时刻的车辆状态信息;基于车辆状态信息、预先确定的参考路径、预先获取到的车辆参数和预先建立的滑膜预测控制器,计算车辆在当前时刻的目标前轮转角;控制车辆根据目标前轮转角行驶。本发明的方法设计了一种基于等效预测的滑膜预测控制器,利用该滑膜预测控制器,可以根据车辆在当前时刻的状态信息准确的计算出车辆的前轮转角,提高了自动驾驶中对车辆进行横向控制的效率和准确率,进一步提高了用户体验。


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    Title :

    Automatic driving control method and device, electronic equipment and storage medium


    Additional title:

    一种自动驾驶控制方法、装置、电子设备和存储介质


    Contributors:
    LI BO (author) / LIU JINBO (author) / WANG YU (author) / ZHANG JIAN (author) / GAO YUAN (author) / WANG XINZHI (author)

    Publication date :

    2023-11-21


    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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