Verfahren und Vorrichtung zur Gemeinsamen Quer- und Längssteuerung für ein Autonomes Fahrzeug

Details

Veröffentlichungs-Nr.

EP4782297

Anmeldetag

10. Juni 2026

Veröffentlichung

29. Juli 2026

Rechtsraum

EP

IPC

B60W50/00, B60W60/00

Abstract

The present disclosure provides a joint lateral and longitudinal control method and apparatus for an autonomous vehicle, an electronic device, and a medium, and relates to the technical field of autonomous driving, in particular to the technical field of trajectory tracking and model predictive control. A solution for implementation includes: obtaining a lateral-longitudinal coupled state prediction model of an autonomous vehicle and a desired trajectory; obtaining a current state quantity and a current control quantity of the autonomous vehicle; solving for a target control quantity for trajectory tracking using a model predictive control algorithm based on the current state quantity, the current control quantity, the lateral-longitudinal coupled state prediction model, and the desired trajectory, where the model predictive control includes quadratic programming, and a cost function of the quadratic programming includes at least a lateral-longitudinal decoupled target error; and controlling the autonomous vehicle to perform the trajectory tracking based on the target control quantity.

Anmelder

Firma

Beijing Baidu Netcom Science Technology Co., Ltd.

Land

🇨🇳 China

Fachgebiete