Automatic driving neutral angle learning method and device, vehicle, storage medium and program product

The invention is applied to the technical field of automatic driving, and discloses an automatic driving neutral angle learning method and device, a vehicle, a storage medium and a program product, and the method comprises the steps: obtaining vehicle driving information; identifying a road state according to the vehicle driving information, wherein the road state is a straightway state or a curve state; calling a straightway integral controller and/or a curve integral controller to perform centering driving control on the vehicle according to the road state; and when the road state is in the straightway state, updating a median angle learning value by using a first integral value of the straightway integral controller. According to the invention, the accuracy of deviation correction of the median angle is improved. 本发明应用于自动驾驶技术领域，公开了一种自动驾驶中位角学习方法、装置、车辆、存储介质及程序产品，方法包括：获取车辆行驶信息；根据所述车辆行驶信息识别道路状态，所述道路状态为直道状态或弯道状态；根据所述道路状态调用直道积分控制器和/或弯道积分控制器对车辆进行对中行驶控制；当所述道路状态在所述直道状态下时，利用所述直道积分控制器的第一积分值对中位角学习值进行更新。本发明提高了中位角纠偏的准确率