Vehicle control method, device, vehicle and storage medium

Abstract

The embodiments of the invention disclose a vehicle control method and device, a vehicle and a storage medium. The vehicle control method includes the steps that an offset value of the vehicle relative to an initial planning path is acquired; and when the offset value of the vehicle is greater than a preset threshold value, regression control is performed on the vehicle according to the environmental information of the vehicle and / or the vehicle own information. According to the technical scheme, the safety problems and uncomfortable experience due to the fact the regression control is performed on the vehicle by adopting an initial automatic driving algorithm when the vehicle has a large offset value are solved; and the problem that path planning cannot depend on a high-precision map whenthe vehicle shifts to an unconventional road or not in a range of high-precision map due to sudden disturbance is further solved, so that the technical effect of returning to the initial planning path without manual takeover is realized.

Description

technical field [0001] The present disclosure relates to the field of automatic driving, and in particular to a vehicle control method, device, vehicle and storage medium. Background technique [0002] With the development of autonomous driving technology, higher expectations are raised for the safety issues and exception handling capabilities of autonomous driving. In the process of proposing the present disclosure, the inventors found that, in the case of a relatively large offset between the positioning of the vehicle and the initially planned route, even when the vehicle is still within the range of the conventional road or the high-precision map, the regression control of the vehicle At this time, it is no longer suitable to use the original vehicle control parameters or the original path planning method to perform regression control on the vehicle, and it may even cause safety problems. At the same time, when the vehicle is not on the regular road or within the range ...

AI Technical Summary

Problems solved by technology

In the process of proposing the present disclosure, the inventors found that, in the case of a relatively large offset between the positioning of the vehicle and the initially planned route, even when the vehicle is still within the range of the regular road or the high-precision map, the regression control of the vehicle When using the original vehicle control parameters or the original path planning method to perform regression control on the vehicle, it is no longer suitable and may even cause safety problems

At the same time, when the vehicle is not on the regular road or within the range of the high-precision map, the original path planning method will fail due to the lack of support of the high-precision map. At this time, the vehicle has to park in an unobstructed place around and handed over to manual takeover

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