The invention relates to an unmanned vehicle control method and device, electronic equipment and a storage medium. The method comprises the steps that an initial speed limit curve and the current speed of an unmanned vehicle are acquired; performing deceleration filtering processing on the initial speed limit curve according to the first deceleration parameter, and adjusting the first deceleration parameter according to the target step length under the condition that the speed of the current position corresponding to the obtained first deceleration filtering curve is smaller than the current speed to obtain an updated deceleration parameter, performing deceleration filtering processing on the initial speed limit curve based on the updated deceleration parameter to obtain a target deceleration filtering curve; performing accelerated filtering processing on the initial speed limit curve to obtain an accelerated filtering curve; performing fusion processing on the curves to obtain a first fusion filtering curve; and performing driving control on the unmanned vehicle according to the first fusion filtering curve. In this way, when the unmanned vehicle runs at the speed corresponding to the first fusion filtering curve, stable control over the vehicle can be achieved.
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:获取初始限速曲线和无人驾驶车辆的当前速度;按照第一减速度参数对初始限速曲线进行减速滤波处理,得到的第一减速滤波曲线对应当前位置的速度小于当前速度的情况下,按照目标步长调整第一减速度参数,得到更新后的减速度参数,并基于更新后的减速度参数对初始限速曲线进行减速滤波处理,以得到目标减速滤波曲线;对初始限速曲线进行加速滤波处理,得到加速滤波曲线;通过对上述曲线进行融合处理得到第一融合滤波曲线;根据第一融合滤波曲线,对无人驾驶车辆进行行驶控制。这样无人驾驶车辆在基于第一融合滤波曲线对应的速度行驶时,可以实现对车辆的平稳控制。
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
2023-11-24
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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