Control method, device and equipment of automatic driving vehicle and storage medium

The invention provides a control method, device and equipment for an automatic driving vehicle and a storage medium, and relates to the technical field of artificial intelligence, in particular to the field of automatic driving and intelligent transportation. The method comprises the following steps: in response to determining that a target vehicle enters a parking stage, determining a first steering wheel angle calculated by a proportional-integral-derivative (PID) controller; determining a second steering wheel angle calculated by a model predictive control (MPC) controller; based on the first steering wheel angle and the second steering wheel angle, calculating a target steering wheel angle; and controlling the target vehicle to steer based on the target steering wheel angle. According to the control method of the automatic driving vehicle, the control precision of the automatic driving vehicle is improved, and the safety of the automatic driving vehicle is guaranteed. 本公开提供了一种自动驾驶车辆的控制方法、装置、设备以及存储介质，涉及人工智