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Automatic driving method and automatic driving system

An automatic driving and maneuvering technology, applied in data processing applications, forecasting, two-dimensional position/channel control, etc., can solve problems such as the inability to accurately plan the path and trajectory of motor vehicles

Active Publication Date: 2014-03-19
SHANDONG INST OF ADVANCED TECH CHINESE ACAD OF SCI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] For this reason, the technical problem to be solved by the present invention is that in the field of automatic driving of motor vehicles, it is impossible to accurately plan the path trajectory of the motor vehicle according to the optimal maneuvering strategy, thereby providing a vehicle that can accurately plan the driving path of the motor vehicle according to the optimal maneuvering strategy. Automatic driving method and system for path trajectory

Method used

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  • Automatic driving method and automatic driving system
  • Automatic driving method and automatic driving system

Examples

Experimental program
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Effect test

Embodiment 1

[0084] This embodiment provides an automatic driving method, such as figure 1 shown, including the following steps:

[0085] Obtaining the corresponding relationship between the vehicle body parameters, the vehicle speed and the optimal steering angle of the vehicle and storing the corresponding relationship.

[0086] Determine whether the optimal maneuvering strategy is lane switching, overtaking and steering maneuvers, and if so, adjust the driving state of the motor vehicle to the ideal state.

[0087] Obtain the vehicle speed and the wheelbase of the front and rear wheels of the vehicle.

[0088] The speed of the motor vehicle is compared with the corresponding relationship to obtain the optimal steering angle of the motor vehicle.

[0089] According to the optimal steering angle of the motor vehicle and the wheelbase of the front and rear wheels of the motor vehicle, the turning radius of the motor vehicle is obtained.

[0090] According to the optimal steering angle o...

Embodiment 2

[0115] On the basis of Embodiment 1, the automatic driving method provided in this embodiment further includes the following steps:

[0116] A maneuvering operation command is generated to control the motor vehicle to perform lane switching, overtaking and steering maneuvering operations according to the lane switching path trajectory.

[0117] Such as figure 2 As shown, if the motor vehicle wants to switch from the left lane to the right lane, during the actual automatic driving process of the motor vehicle, the turn signal of the motor vehicle needs to be turned on, and the front wheel of the motor vehicle is first shifted to the right by α through the maneuver operation command Angle, calculated from this point in time, when the driving distance of the motor vehicle is πRα / 180, that is, when the motor vehicle travels along the arc BA to point A, adjust the front wheel of the motor vehicle to shift to the left by an angle of 2α, and calculate from this point in time, When ...

Embodiment 3

[0128] This embodiment provides an automatic driving system, such as Figure 6 shown, including:

[0129] Correspondence storage module 1 is used to obtain and store the correspondence between vehicle body parameters, vehicle speed and optimum steering angle of the vehicle.

[0130] The driving maneuver control module 2 is used to adjust the driving state of the motor vehicle, and adjust the driving state of the motor vehicle to an ideal state when the optimal maneuvering strategy is lane switching, overtaking and steering maneuvers.

[0131] The vehicle body information collection module 3 is used to collect the running state information of the motor vehicle, and the running state information of the motor vehicle includes the speed information of the motor vehicle and the wheelbase of the front and rear wheels of the motor vehicle.

[0132] The central processing control module 4 includes a path trajectory generation unit 41 .

[0133] The path trajectory generation unit 41...

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Abstract

The invention provides an automatic driving method and an automatic driving system. A corresponding relation among vehicle body parameters of the motor vehicle, a vehicle speed and an optimum turning angle of the motor vehicle are acquired firstly; a driving state of the motor vehicle is adjusted to be an ideal state when optimum maneuvering strategies are lane switching, overtaking and turning driving maneuvering operation; the speed of the motor vehicle and a distance of front and back wheel shafts are acquired; contrast between the speed of the motor vehicle and the corresponding relation is carried out to acquire an optimum turning angle of the motor vehicle; a turning radius of the motor vehicle is acquired according to the optimum turning angle of the motor vehicle and the distance of the front and back wheel shafts; and a lane switching path locus of the motor vehicle can be planned according to the optimum turning angle and the turning radius of the motor vehicle. Through the method and the system, the lane switching path locus of the motor vehicle under an automatic driving state can be planned according to the optimum maneuvering strategies, and most accurate reference basis is provided for automatic driving of the motor vehicle.

Description

technical field [0001] The invention relates to an automatic driving method and system. Specifically, it is an automatic driving method and system applied in the field of automatic driving of motor vehicles. Background technique [0002] With the rapid growth of the number of motor vehicles, the traffic pressure that cities are facing is also increasing. However, the widening of roads is limited by urban planning and the building environment, and it is difficult to achieve linear growth with the growth rate of motor vehicles, making traffic congestion an inevitable problem for large and medium-sized cities. Therefore, how to improve road traffic capacity under the current road conditions has become a key research direction of current motor vehicle technology and traffic development. The motor vehicle train technology based on automatic driving and intelligent assisted driving technology can effectively increase the capacity and flow of motor vehicles on the road, thereby e...

Claims

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Application Information

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IPC IPC(8): G06Q10/04G05D1/02
Inventor 王刚汪明徐国卿张琦常明宫凯
Owner SHANDONG INST OF ADVANCED TECH CHINESE ACAD OF SCI CO LTD
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