The invention provides a control method and device for an automatic driving vehicle and a computer readable storage medium, and the method comprises the steps: obtaining the current road condition information and the current state information of the vehicle, and the current state information comprises the current speed, the current direction angle and the current position; the current road condition information is processed through a prediction model, future acceleration information and future curvature information of the vehicle are obtained, and the future acceleration information comprises at least one of acceleration, parameters representing the change condition of the acceleration, and the parameters representing the change condition of the acceleration; the future curvature information comprises at least one of a planned route curvature and a parameter representing the change condition of the planned route curvature; determining future state information of the vehicle according to the future acceleration information, the future curvature information and the current state information based on a kinematic model, the future state information including a future speed, a future direction angle and a future position; and executing a control strategy for the vehicle according to the future state information. The control strategy can be executed by the vehicle.
本申请提供了一种自动驾驶车辆的控制方法、装置和计算机可读存储介质,该方法包括:获取车辆的当前路况信息以及当前状态信息,当前状态信息包括当前速度、当前方向角以及当前位置;采用预测模型处理当前路况信息,得到车辆的将来加速度信息和将来曲率信息,将来加速度信息包括以下至少之一:加速度、表征加速度的变化情况的参数,将来曲率信息包括以下至少之一:规划路线曲率、表征规划路线曲率的变化情况的参数;基于运动学模型,根据将来加速度信息、将来曲率信息以及当前状态信息,确定车辆的将来状态信息,将来状态信息包括将来速度、将来方向角以及将来位置;根据将来状态信息,执行对车辆的控制策略。本申请的控制策略可被车辆执行。
Control method and device of autonomous vehicle and computer readable storage medium
自动驾驶车辆的控制方法、装置和计算机可读存储介质
2024-10-15
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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