Unmanned vehicle control method, apparatus and device and storage medium

• Main Author: DAI YANLING
• Format: Patent
• Language: Chinese; English
• Published: 01.03.2019
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The embodiment of the invention discloses an unmanned vehicle control method, apparatus and device and a storage medium. The method comprises the steps of: determining the speed of a vehicle and the current position of the vehicle; determining the deviation of the current position relative to a set driving path; determining a PID parameter set corresponding to the speed of the vehicle; inputting the PID parameter set and the deviation into the PID controller to obtain output PID control amount; and according to the PID control amount, determining the control angle of a steering wheel in the vehicle, and outputting the control angle to the steering wheel. The technical scheme provided by the embodiment of the invention can reduce the overshoot or following errors of the vehicle in differentspeeds and is more accurate and stable for vehicle control. 本发明实施例公开了种无人车辆的控制方法、装置、设备及存储介质，其中，该方法包括：确定车辆的速度以及所述车辆的当前位置；确定所述当前位置相对于设定行驶路径的偏差；确定与所述车辆的速度对应的PID参数组；将所述PID参数组以及所述偏差输入到PID控制器中，获取输出的PID控制量；根据所述PID控制量确定所述车辆中舵轮的控制角度，并