The invention discloses a vehicle driving path control method and device and a readable storage medium, and the method comprises the steps: outputting a first steering angle based on the state data of a vehicle during automatic driving and a prediction controller, the state data including the transverse error change rate, the transverse acceleration, the yaw velocity and the yaw angular acceleration of the vehicle, the prediction controller is used for predicting a steering angle for controlling the steering of wheels of the vehicle; sample data containing the first steering angle and the state data are input into a steering angle compensation model to obtain a second steering angle used for compensating the first steering angle, and the steering angle compensation model is obtained based on the state data of vehicles corresponding to human driving and automatic driving and steering angle training; and controlling the steering of the wheels based on the first steering angle and the second steering angle so as to control the driving path of the vehicle.
本申请公开了一种车辆行驶路径控制方法及装置、可读存储介质,包括:基于自动驾驶时车辆的状态数据和预测控制器,输出第一转向角,所述状态数据包括所述车辆的横向误差变化率、横向加速度、横摆角速度、横摆角加速度,所述预测控制器用于预测控制所述车辆的车轮转向的转向角;将包含所述第一转向角和所述状态数据的样本数据输入到转向角补偿模型,以得到用于补偿所述第一转向角的第二转向角,所述转向角补偿模型基于人类驾驶和自动驾驶对应的车辆的状态数据以及转向角训练得到;基于所述第一转向角和所述第二转向角控制所述车轮的转向,以控制所述车辆的行驶路径。
Vehicle driving path control method and device and readable storage medium
车辆行驶路径控制方法及装置、可读存储介质
2024-08-27
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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