The invention provides a vehicle transverse control method, device and equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving and intelligent traffic. According to the specific implementation scheme, under the condition that it is recognized that a vehicle is located on a high-speed straight road section, the original state error of the vehicle is determined according to current state information of the vehicle and track point information of a planned track; wherein the original state error comprises an original transverse error and/or an original course angle error; in response to the situation that the original state error is smaller than a state error boundary, correcting the original state error to obtain a target state error; and inputting the target state error into a transverse controller to obtain an actual steering wheel control turning angle of the vehicle so as to perform transverse control on the vehicle. According to the technical scheme, frequent shaking of the vehicle can be avoided.

    本公开提供了一种车辆横向控制方法、装置、设备及存储介质,涉及人工智能技术领域,尤其涉及自动驾驶和智能交通技术领。具体实现方案为:在识别到车辆处于高速平直路段的情况下,根据车辆的当前状态信息和规划轨迹的轨迹点信息,确定所述车辆的原始状态误差;其中,所述原始状态误差包括原始横向误差和/或原始航向角误差;响应于所述原始状态误差小于状态误差边界,对所述原始状态误差进行修正,得到目标状态误差;将所述目标状态误差输入横向控制器,得到所述车辆的实际方向盘控制转角,以对所述车辆进行横向控制。通过上述技术方案,能够避免车辆频繁晃动。


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    Title :

    Vehicle transverse control method, device and equipment and storage medium


    Additional title:

    一种车辆横向控制方法、装置、设备及存储介质


    Contributors:
    HAO CHENXI (author)

    Publication date :

    2024-01-09


    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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