The embodiment of the invention discloses a vehicle transverse control method and device, computer equipment and a readable storage medium. The method comprises the following steps: acquiring a reference track and current driving parameters of a vehicle; based on the reference trajectory and the driving parameters, generating a control trajectory corresponding to the reference trajectory; and for each position point included in the control track, according to the initial wheel rotation angle rate value corresponding to the position point, updating the wheel rotation angle rate value based on a preset state truncation strategy to obtain a target wheel rotation angle rate sequence which is not greater than a preset wheel rotation angle rate maximum value. By applying the scheme provided by the embodiment of the invention, the wheel corner rate values included in the control track can be updated, and each wheel corner rate value included in the finally obtained target wheel corner rate sequence is ensured not to be greater than the preset wheel corner rate maximum value, so that the driving safety of the automatic driving vehicle can be ensured.

    本申请实施例公开一种车辆横向控制方法、装置、计算机设备及可读存储介质。该方法包括:获取参考轨迹,以及自车当前的行驶参数;基于所述参考轨迹以及所述行驶参数,生成所述参考轨迹对应的控制轨迹;针对所述控制轨迹中包括的每个位置点,根据该位置点对应的初始车轮转角速率值,基于预设的状态截断策略对该车轮转角速率值进行更新,得到均不大于预设车轮转角速率最大值的目标车轮转角速率序列。应用本申请实施例提供的方案,能够对控制轨迹中包括的车轮转角速率值进行更新,确保最终得到的目标车轮转角速率序列中包括的每一车轮转角速率值均不大于预设的车轮转角速率最大值,从而可以保证自动驾驶车辆的行驶安全。


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    Title :

    Vehicle transverse control method and device, computer equipment and storage medium


    Additional title:

    一种车辆横向控制方法、装置、计算机设备及存储介质


    Contributors:
    ZHANG SHUO (author)

    Publication date :

    2025-03-14


    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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