Abstract: The present disclosure discloses a method for automatically identifying south troughs by improved Laplace and relates to the technical field of meteorology. The method includes the following steps: acquiring grid data of a geopotential height field; calculating a gradient field of the geopotential height field in an x direction; searching for a turning point where a gradient value turned from being negative to being positive, and cleaning the gradient field; calculating a divergence of the x direction to obtain an improved Laplacian numerical value L?; performing 0,1 binarization processing on the L? to obtain a black-and-white image and a plurality of targets of potential troughs, merging the black-and-white image and the plurality of targets of the potential troughs by expansion, recovering original scale through erosion, and selecting an effective target through an angle of direction of a contour and an axial ratio.

Abstract: The present disclosure provides a method and an apparatus for autonomously driving a vehicle. The method includes: recognizing a centerline of a lane on which a current vehicle is driving; acquiring a lateral distance between the current vehicle and the centerline of the lane, and a real-time speed and a real-time motion curvature of the current vehicle; calculating the lateral distance, the real-time speed, and the real-time motion curvature, based on a preset first spiral line equation, to acquire parameters of a reference spiral line; calculating the parameters, the real-time speed, and the real-time motion curvature, based on a preset second spiral line equation, to acquire a current spiral line; and determining an steering angle instruction of a steering wheel based on a first curvature of the current spiral line; and controlling the current vehicle for autonomous driving based on the steering angle instruction.

Abstract: 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.

Abstract: The present disclosure provides a method and an apparatus for autonomously driving a vehicle. The method includes: recognizing a centerline of a lane on which a current vehicle is driving; acquiring a lateral distance between the current vehicle and the centerline of the lane, and a real-time speed and a real-time motion curvature of the current vehicle; calculating the lateral distance, the real-time speed, and the real-time motion curvature, based on a preset first spiral line equation, to acquire parameters of a reference spiral line; calculating the parameters, the real-time speed, and the real-time motion curvature, based on a preset second spiral line equation, to acquire a current spiral line; and determining an steering angle instruction of a steering wheel based on a first curvature of the current spiral line; and controlling the current vehicle for autonomous driving based on the steering angle instruction.

Abstract: 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.