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Software emulation method of self-determination driving vehicle running process

A technology for vehicle driving and autonomous driving, applied in software simulation/interpretation/simulation, program control devices, etc., can solve problems such as vehicle loss of control, public reporting of software simulation methods, loss, etc., to achieve the effect of simplicity

Inactive Publication Date: 2009-06-24
SHANGHAI JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are some disadvantages in conducting experiments directly on actual vehicles, especially when the stability of the vehicle control relationship is not yet certain, rash experiments may cause the vehicle to lose control, causing casualties and property losses
At present, there is no public report of such a software simulation method for the driving process of autonomous vehicles.

Method used

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  • Software emulation method of self-determination driving vehicle running process
  • Software emulation method of self-determination driving vehicle running process
  • Software emulation method of self-determination driving vehicle running process

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Embodiment Construction

[0024] The following will describe in detail with reference to the accompanying drawings and a specific embodiment, so as to have a deeper understanding of the purpose and technical solution of the present invention.

[0025] The specific implementation steps are described as follows:

[0026] In the first step, the vehicle position, heading angle, and front wheel rotation angle are taken as the state variables describing the driving process of the autonomous driving vehicle, and the initial state variable values ​​are set.

[0027] The vehicle position is represented by symbols x and y (x represents the abscissa and y represents the ordinate), ψ represents the heading angle, and δ represents the front wheel rotation angle. x, y, ψ, and δ constitute the state variables describing the driving process of the self-driving vehicle. In this embodiment, the state variables are assigned initial values ​​of x=0, y=0, ψ=0, and δ=0.

[0028] The second step is to describe the expected ...

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Abstract

The invention relates to a software simulation method for the driving process of an autonomous driving vehicle, which can simulate the driving process of the autonomous driving vehicle on a computer with a window operating system. The present invention firstly selects the appropriate state variables and the description form of the desired trajectory, then establishes a graphic display interface and displays the desired trajectory and the plan view of the vehicle in the initial state, and then repeatedly executes the calculation of the preview deviation and the calculation of the front wheel angle control amount , state variable refresh and graphics display refresh this series of steps. The present invention avoids possible safety problems in the actual autonomous driving vehicle experiment debugging process, does not need to use any external equipment, is easy to implement, and can better simulate the driving process of the autonomous driving vehicle, and conduct actual autonomous driving vehicle experiments on relevant technical personnel Debugging serves as a guide.

Description

technical field [0001] The invention relates to a software simulation method for the driving process of an autonomous driving vehicle, which can simulate the driving process of the autonomous driving vehicle on a computer with a window operating system, and plays a guiding role for relevant scientific and technological personnel to carry out actual autonomous driving vehicle experiment debugging. Background technique [0002] Cars are one of the most effective and widely used means of transportation in modern society, and are an indispensable part of maintaining people's normal life and work. Moreover, with the continuous development of society, more and more cars have entered people's field of vision . However, the emergence of a large number of automobiles, whether it is public buses, trucks, or more and more private cars, has brought more challenges to traffic efficiency, traffic safety, and environmental protection. Increasingly frequent traffic jams and traffic acciden...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F9/455
Inventor 李颢
Owner SHANGHAI JIAOTONG UNIV
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