Steering control method and device for driverless car

Abstract

The invention discloses a steering control method and device for a driverless car. One embodiment of the method comprises the following steps: current position of the driverless car is acquired in real time; the radius of curvature of a road turn in the current position is inquired in a high-precision map, wherein the radius of curvature is used for representing the value, larger than zero, of an arc radius at the road turn; in response to the inquired radius of curvature, the distance between front and rear axles of the driverless car and the length of the axles of the driverless car are acquired; steering angles of turning wheels of the driverless car are determined according to the distance between the front and rear axles and the length of the axles, and the steering wheels of the driverless car are controlled to steer at the steering angles. With adoption of the embodiment, the steering times of the driverless car are reduced, and the passenger riding experience of the driverless car is improved.

Description

technical field [0001] The present application relates to the technical field of motor vehicles, in particular to the technical field of unmanned vehicles, and in particular to a steering control method and device for unmanned vehicles. Background technique [0002] An unmanned vehicle is a new type of smart car, also known as a "wheeled mobile robot". By sending instructions to the ECU (Electronic Control Unit, electronic control unit), different devices in the unmanned vehicle are respectively controlled, so as to realize the fully automatic operation of the vehicle and achieve the purpose of unmanned driving of the vehicle. [0003] Vehicle control technology is the core of unmanned vehicles, mainly including several parts such as speed control and direction control. Unmanned driving is actually human-like driving using electronic technology to control vehicles. In the existing directional control, most of the vehicle-mounted cameras, lidar or Global Positioning System ...

AI Technical Summary

Problems solved by technology

In the existing directional control, most of the vehicle-mounted cameras, lidar or Global Positioning System (Global Positioning System, GPS) are used to obtain the surrounding information of the road where the current vehicle position is located, and after comprehensive analysis and calculation of these information, it is concluded that no one is on the road. The steering angle of the driving vehicle requires a huge amount of calculation, especially when it comes to image processing, which increases the amount of calculation. In addition, these methods often treat the curve corresponding to the road as a tangent, and perform a steering action every time a tangent point is reached. Passengers will feel frequent steering, degrading passenger experience in self-driving vehicles

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