The invention discloses an intelligent driving local track
fault tolerance planning method based on lane lines and GPS following. The method includes steps: firstly initializing a following mode and establishing an intelligent driving vehicle coordinate
system; secondly discriminating the recognition states of
GPS data and the lane lines according to GPS and lane line information; then calculating a
fault tolerance deviation according to the discriminated recognition states, and updating the following mode; and finally performing local path and track planning based on the new following mode. According to the method, the validity of various data is determined, the accuracy of subsequent calculation is improved, the
fault tolerance deviation is designed based on various data states, the fault tolerance deviation is dynamically updated in real time, the
system complexity is simplified, the practical application is easy, and the robustness of
data processing is improved; and real-time state transition of the following mode is performed according to multi-
sensing data including the GPS and the lane lines, continuous and smooth control of multiple following states is realized, and the comfort and the stability of intelligent-driving vehicles are improved.