The invention relates to the technical field of automatic driving, in particular to a vehicle driving method and device, computer equipment and a readable storage medium. Comprising the following steps: adjusting a driving state of a vehicle according to a target speed and a target acceleration required by the vehicle to reach a target position to obtain an actual speed and an actual acceleration of the vehicle; determining a feedback value before acceleration according to the target acceleration and the actual acceleration; determining a speed negative feedback value according to the actual speed and the target speed; and according to the acceleration pre-feedback value and the speed negative feedback value, the actual acceleration is optimized, so that the vehicle runs to a longitudinal planning position at the target speed under the condition that the actual speed reaches the target speed.
本申请涉及自动驾驶技术领域,特别是涉及一种车辆行驶方法、装置、计算机设备和可读存储介质。包括:根据车辆达到目标位置所需的目标速度和目标加速度,对车辆的驾驶状态进行调整,得到车辆的实际速度和实际加速度;根据目标加速度和实际加速度,确定加速度前反馈值;根据实际速度与目标速度,确定速度负反馈值;根据加速度前反馈值和速度负反馈值,对实际加速度进行优化,以使实际速度达到目标速度的情况下,车辆通过目标速度行驶至纵向规划位置。
Vehicle driving method and device, computer equipment and readable storage medium
车辆行驶方法、装置、计算机设备和可读存储介质
2024-09-24
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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