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Methodanddevicefor controlling self-driving vehicle, computer device, and storage medium

A technology of automatic driving and control method, which is applied in the direction of automatic steering control components, vehicle components, steering mechanisms, etc., and can solve the problems of inaccurate lateral control of vehicles.

Active Publication Date: 2019-09-24
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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Problems solved by technology

[0005] For this reason, this application proposes a control method, device, computer equipment and storage medium for an automatic driving vehicle, which is used to solve the technical problem that the lateral control of the vehicle in the prior art is not accurate enough. Carry out correction processing, so that the yaw rate generated by the vehicle is close to the expected yaw rate, and improve the lateral control accuracy of the vehicle

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  • Methodanddevicefor controlling self-driving vehicle, computer device, and storage medium

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[0034] The following describes in detail the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present application, but should not be construed as a limitation to the present application.

[0035] The following describes the control method, device, computer device, and storage medium for an automatic driving vehicle according to the embodiments of the present application with reference to the accompanying drawings.

[0036] figure 1 This is a schematic flowchart of a control method for an automatic driving vehicle provided by an embodiment of the present application.

[0037] like figure 1 As shown, the control method of the self-driving vehicle m...

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Abstract

The invention provides a methodanddevicefor controlling a self-driving vehicle, a computer device, and a storage medium. The method for controlling the self-driving vehicle comprises the steps that a current steering wheel angle,a current vehicle speed, and a current yaw velocity of the vehicle are obtained; the current steering wheel angle is correctedaccording to a pre-stored firstcorrection deviation coefficient and second correction deviation coefficient obtained in a previous periodto generate a corrected steering wheel angle, and the corrected steering wheel angle and the current vehicle speed are inputted into a preset vehicle dynamics model to obtain an estimated yaw velocity; the current yaw velocity and a first yaw velocity deviation value of the estimated yaw velocity are processed to obtain the first correction deviation coefficient and the second correction deviation coefficient of the current period to correct a target steering wheel angle, and driving is performed according to the target steering wheel angle after correction. By correcting the target steering wheel angle in real time, the yaw velocity generated by the vehicle is close to a desired yaw velocity, and lateral control precision of the vehicle is improved.

Description

technical field [0001] The present application relates to the technical field of autonomous driving, and in particular, to a control method, device, computer equipment and storage medium for an autonomous driving vehicle. Background technique [0002] Usually, in automatic driving, it is necessary to convert the desired yaw angular velocity into the steering wheel angle, control the vehicle, and make the yaw angular velocity generated by the vehicle close to the expected yaw angular velocity, so as to ensure the accuracy of vehicle control. [0003] In the related art, according to the position of the center of mass of the vehicle, tire data, and steering gear ratio, the vehicle lateral dynamics modeling is carried out to control the vehicle laterally. However, the change of the vehicle load will affect the position of the center of mass; in different turning scenarios , the characteristics of the tires are also different, and the existing method can only cover the driving s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W10/20B60W30/18B60W40/105B60W40/10B60W40/00
CPCB60W10/20B60W30/18B60W40/105B60W40/10B60W40/00B62D6/003B62D15/025Y02T10/72B60W30/045B60W40/114B60W50/0098B60W50/085
Inventor 秦文闯彭夏鹏黄加勇唐科邵启扬吕旭光
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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