The invention discloses an automatic driving vehicle control parameter determination method and device, a vehicle and a storage medium, and relates to the technical field of automatic driving control, and the method comprises the steps: obtaining the current state of an automatic driving vehicle; obtaining an initial control parameter based on a preset control parameter model and the current state; determining a current control quantity based on the initial control parameter; and updating the initial control parameter according to the current control quantity to obtain a target control parameter. The preset control parameter model is obtained through deep learning construction training, the control parameters can be directly output through the preset control parameter model, the initial control parameters are adjusted on line through the current control quantity, and the method adapts to different control scenes. Different control parameters can be adopted for different vehicle states, so that expression of the control parameters has interpretability, and more artificial constraints can be added to enable the control parameters to be easier to adjust. And compared with adjustment of the control parameters depending on artificial experience, the difficulty of adjustment of the control parameters is reduced.
本申请公开了一种自动驾驶车辆控制参数确定方法、装置、车辆及存储介质,涉及自动驾驶控制技术领域,包括:获取自动驾驶车辆的当前状态;基于预设控制参数模型和所述当前状态得到初始控制参数;基于所述初始控制参数确定当前控制量;根据所述当前控制量对所述初始控制参数进行更新,得到目标控制参数。预设控制参数模型是通过深度学习构建训练得到,可通过预设控制参数模型直接输出控制参数,并通过当前控制量在线调节初始控制参数,适应不同的控制场景。不同的车辆状态可以采用不同的控制参数,使得控制参数的表达具备可解释性,可以增加更多人为约束使得控制参数更易于调节。相较于依赖人工经验对控制参数进行调节,降低控制参数调节的难度。
Automatic driving vehicle control parameter determination method and device, vehicle and storage medium
自动驾驶车辆控制参数确定方法、装置、车辆及存储介质
2025-02-14
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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