The invention provides an automatic driving control method, electronic equipment, a vehicle and a storage medium. The method comprises the steps of obtaining current state data of a vehicle, wherein the current state data at least comprises a driving mode, a current vehicle speed and a current position of the vehicle; when the driving mode is an automatic driving mode of a specified type, optimized control parameters are obtained by utilizing a linear quadratic regulator optimization module based on the current vehicle speed, the current position and planning parameters corresponding to the automatic driving mode; and based on the control parameters, the motion state of the vehicle is controlled through a PID controller. Therefore, the planning control of the automatic driving can be adaptively adjusted along with the change of the running state of the vehicle, and the planning control effect of the automatic driving can be improved.
本申请提供一种自动驾驶控制方法、电子设备、车辆及存储介质。方法包括:获取车辆的当前状态数据,当前状态数据至少包括车辆的驾驶模式、当前车速及当前位置;当驾驶模式为指定类型的自动驾驶模式时,基于当前车速和当前位置,以及与自动驾驶模式对应的规划参数,利用线性二次型调节器优化模块,得到经过优化的控制参数;基于控制参数,通过PID控制器控制车辆的运动状态。如此,自动驾驶的规划控制能够随车辆运行状态的变化自适应调整,有利于提高自动驾驶的规划控制效果。
Automatic driving control method, electronic equipment, vehicle and storage medium
自动驾驶控制方法、电子设备、车辆及存储介质
2025-04-15
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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