Unmanned vehicle, transverse control method thereof and electronic equipment

The invention discloses an unmanned vehicle, a transverse control method thereof and electronic equipment. The method comprises the following steps of acquiring a position sequence of preview points;determining a weighted expected circumferential curvature according to a position deviation expected circumferential curvature, a heading deviation expected circumferential curvature and a trajectorycurvature expected circumferential curvature of a vehicle relative to each of the N preview points; and determining a steering wheel rotation angle and an expected rotation angle speed according to the weighted expected circumferential curvature so as to control the rotation of a steering wheel and realize transverse control. The step of obtaining the position sequence of the preview points comprises the sub-steps that the number N of the preview points is determined according to a real-time vehicle speed of the vehicle and a curvature of a current expected track; determining a position sequence of N reference points a