The invention provides a transverse control method and device of a vehicle, a storage medium and an automatic driving vehicle, and relates to the technical field of computers, in particular to the technical field of artificial intelligence such as the intelligent traffic field and the automatic driving technical field. According to the specific implementation scheme, when transverse control of automatic driving is carried out on a vehicle, predicted transverse vehicle state parameters of the vehicle at all predicted time points are determined by combining running state information of the vehicle at the current moment and expected longitudinal speeds of the vehicle at all predicted time points in a predicted time domain after the current moment; and determining the transverse control quantity at each prediction time point in the prediction time domain by combining the predicted transverse vehicle state parameter and the expected transverse vehicle state parameter of the vehicle at each prediction time point, and performing transverse control on the vehicle based on the transverse control quantity at the first prediction time point in the prediction time domain. Therefore, the accuracy and stability of transverse control of the vehicle are improved, and then the safety of automatic driving of the vehicle can be improved.

    本公开提供了一种车辆的横向控制方法、装置、存储介质和自动驾驶车辆,涉及计算机技术领域,具体涉及智能交通领域和自动驾驶技术领域等人工智能技术领域。具体实现方案为:在对车辆进行自动驾驶的横向控制时,结合车辆在当前时刻上的运行状态信息和在当前时刻之后的预测时域内各个预测时间点上的期望纵向速度,确定车辆在各个预测时间点上的预测横向车辆状态参数,并结合车辆在各个预测时间点上的预测横向车辆状态参数和期望横向车辆状态参数,确定预测时域内各个预测时间点上的横向控制量,并基于预测时域内第一个预测时间点上的横向控制量,对车辆进行横向控制。由此,提高车辆的横向控制的准确性和稳定性,进而可提高了辆自动驾驶的安全性。


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    Title :

    Transverse control method and device of vehicle, storage medium and automatic driving vehicle


    Additional title:

    车辆的横向控制方法、装置、存储介质和自动驾驶车辆


    Contributors:
    LIU ZHENGYU (author) / TAN YINONG (author) / ZHU ZHENGUANG (author) / LIANG QI (author) / LI LIUTAO (author)

    Publication date :

    2022-07-22


    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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