{
  "$type": "site.standard.document",
  "description": "The present disclosure provides a control method and apparatus for an autonomous vehicle, a computer device and a storage medium. The current steering wheel angle, vehicle speed and yaw rate are obtained, the current steering wheel angle is corrected based on the first correction deviation…",
  "path": "/patents/1434469",
  "publishedAt": "2023-09-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W10/20",
    "APOLLO INTELLIGENT DRIVING TECHNOLOGY BEIJING CO LTD [CN]"
  ],
  "textContent": "The present disclosure provides a control method and apparatus for an autonomous vehicle, a computer device and a storage medium. The current steering wheel angle, vehicle speed and yaw rate are obtained, the current steering wheel angle is corrected based on the first correction deviation coefficient and the second correction deviation coefficient of the previous cycle, the corrected steering wheel angle and the current vehicle speed are input into the preset vehicle dynamic model to obtain the estimated yaw rate, the first yaw rate deviation value between the current yaw rate and the estimated yaw rate is obtained, and processed by the preset closed-loop algorithm to obtain the first correction deviation coefficient and the second correction deviation coefficient of the current cycle, and the target steering wheel angle is corrected, and the vehicle is driven based on the corrected target steering wheel angle.",
  "title": "CONTROL METHOD AND APPARATUS FOR AUTONOMOUS VEHICLE AND STORAGE MEDIUM"
}