The invention provides a vehicle control method and device, a storage medium and electronic equipment, and relates to the technical field of automatic driving and unmanned vehicles. The method comprises the following steps: acquiring a first system state vector at a first time, and predicting according to the first system state vector to obtain a second system state vector at a second time; obtaining a first error covariance matrix of the first time, predicting according to the first error covariance matrix to obtain a second error covariance matrix of the second time, and obtaining a Kalman gain matrix corresponding to the second time according to the second error covariance matrix of the second time; acquiring a third system state vector at a second time; determining a target system state vector of the second time according to the third system state vector, the second system state vector and a Kalman gain matrix corresponding to the second time; and controlling the vehicle to run according to the target acceleration based on the target acceleration in the target system state vector. The high-precision requirement of acceleration closed-loop control can be met.
本申请提供了一种车辆控制方法和装置、存储介质和电子设备,涉及自动驾驶、无人车技术领域。该方法包括:获取第一时间的第一系统状态向量,并根据第一系统状态向量预测得到第二时间的第二系统状态向量;获取第一时间的第一误差协方差矩阵,并根据第一误差协方差矩阵预测得到第二时间的第二误差协方差矩阵,并根据第二时间的第二误差协方差矩阵,获取第二时间对应的卡尔曼增益矩阵;获取第二时间的第三系统状态向量;根据第三系统状态向量、第二系统状态向量和第二时间对应的卡尔曼增益矩阵,确定第二时间的目标系统状态向量;基于目标系统状态向量中的目标加速度,控制车辆按照目标加速度行驶。本申请能够满足加速度闭环控制的高精度需求。
Vehicle control method, vehicle control device, storage medium and electronic equipment
车辆控制方法和车辆控制装置、存储介质和电子设备
2024-02-13
Patent
Electronic Resource
Chinese
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