The invention provides a control method and device of an automatic driving vehicle, computer equipment and a storage medium, and relates to the field of automatic driving. The method comprises the following steps: acquiring an initial planning track of the autonomous vehicle, and judging whether the initial planning track meets a preset verification condition or not; if the initial planning track does not meet the preset verification condition, correcting the initial planning track according to the preset verification condition to generate a corrected planning track; and controlling the autonomous vehicle based on the corrected planned trajectory. According to the embodiment of the invention, pre-processing can be carried out on the planned trajectory, the unreasonable situation of the planned trajectory is isolated and repaired, the reasonable and stable planned trajectory is provided for the control module, and the automatic driving performance of the vehicle is ensured.

    本申请提供了一种自动驾驶车辆的控制方法、装置、计算机设备和存储介质,涉及自动驾驶领域。该方法包括:获取自动驾驶车辆的初始规划轨迹,并判断初始规划轨迹是否符合预设校验条件;若初始规划轨迹不符合预设校验条件,则根据预设校验条件对初始规划轨迹进行修正,生成修正规划轨迹;基于修正规划轨迹控制自动驾驶车辆。本申请实施例,能够对规划轨迹进行前处理,对规划轨迹不合理的情况进行隔离与修复,为控制模块提供合理的、稳定的规划轨迹,保证车辆的自动驾驶性能。


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    Title :

    Control method and device of autonomous vehicle, computer equipment and storage medium


    Additional title:

    自动驾驶车辆的控制方法、装置、计算机设备和存储介质


    Contributors:
    LU YONGKANG (author)

    Publication date :

    2024-09-10


    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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