Automatic driving control method, device and equipment, and storage medium

Abstract

The application provides an automatic driving control method, device and equipment, and a storage medium. The method comprises the following steps of acquiring running state information of a target vehicle at a current time, wherein the running state information includes a current first position, a running speed and a running direction of the target vehicle; determining a second position after the target vehicle runs a preset duration based on the first position, the running speed and the running direction, and determining a lane width value at the second position, and a first distance from the second position to the lane centerline; performing a summation process based on the first distance and the lane width value to obtain a distance constraint parameter between the target vehicle and the lane centerline after running the preset duration; and adjusting the parameter of a trajectory tracking function running in the target vehicle based on the distance constraint parameter, so that the target vehicle runs according to the amount of steering wheel control output by the trajectory tracking function, thereby avoiding that the target vehicle is out of control and improving the stability of controlling the target vehicle.

Description

technical field [0001] The present application relates to the technical field of automatic driving control, and in particular to an automatic driving control method, device, equipment and storage medium. Background technique [0002] Autonomous driving, also known as unmanned vehicles or wheeled mobile robots, is a kind of intelligent vehicle that realizes unmanned driving through computer systems. A high-precision trajectory tracking controller is a prerequisite for realizing safe and stable driving of autonomous vehicles. The trajectory tracking algorithm based on model predictive control obtains the steering wheel angle of the unmanned vehicle through rolling optimization solution, which has significant advantages in dealing with multivariable optimization problems and is widely used in the trajectory tracking control of autonomous vehicles. [0003] In the prior art, the optimal target control predicted by the model of the autonomous vehicle is usually converted into a q...

AI Technical Summary

Problems solved by technology

[0005] The present application provides an automatic driving control method, device, equipment, and storage medium to solve the technical problem in the prior art that there is no solution when solving the control amount of an automatic driving vehicle based on a model prediction algorithm, and it is easy to cause the automatic driving vehicle to lose control

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