A method and system for automatic driving

Abstract

The present invention provides an automatic driving method and system. Firstly, the corresponding relationship between the vehicle body parameters, the vehicle speed and the optimal steering angle of the vehicle is obtained and the corresponding relationship is stored; when the optimal maneuvering strategy is lane switching, Adjust the driving state of the motor vehicle to an ideal state during overtaking and steering maneuvers; then obtain the speed of the motor vehicle and the wheelbase of the front and rear wheels of the motor vehicle; compare the speed of the motor vehicle with the corresponding relationship to obtain the best steering angle of the motor vehicle; The optimal steering angle of the motor vehicle and the wheelbase of the front and rear wheels of the motor vehicle are used to obtain the turning radius of the motor vehicle; finally, the trajectory of the lane switching path can be planned according to the optimal steering angle of the motor vehicle and the turning radius of the motor vehicle. Therefore, the present invention provides an automatic driving method and system capable of accurately planning the lane switching path trajectory of a motor vehicle in an automatic driving state according to an optimal maneuvering strategy, and provides the most accurate reference for the automatic driving of a 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...

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