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

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...

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