Unmanned vehicle, terminal point lateral steady-state control method thereof and electronic equipment

The invention discloses an unmanned vehicle, a terminal point lateral steady-state control method thereof and electronic equipment. The method comprises the following step that a position sequence containing N preview points is acquired; the number N of preview points is determined according to the real-time vehicle speed of the unmanned vehicle and the curvature of a current expected track; then,a position sequence of N reference points is determined according to the real-time vehicle speed, and the N reference points are located in the current driving direction of the unmanned vehicle; within a preset distance close to the terminal point of the current expected track of the unmanned vehicle, a point closest to each reference point in the first R reference points on the current expectedtrack is determined as the first R preview point for lateral control, the remaining K reference points do not have the preview points on the current expected track, and missing K preview points are continuously supplemented af