Automatic driving longitudinal unified planning method and system

A technology of automatic driving and planning system, applied in the field of automobiles, to achieve good applicability, ensure optimality, and satisfy the effect of riding comfort

Active Publication Date: 2018-05-18
TONGJI UNIV
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  • Abstract
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Problems solved by technology

At present, there are many researches on vehicle longitudinal motion planning at home and abroad, including methods for full-speed adaptive cruise, speed profile generation methods, car-following model methods, and traditional artificial potential field methods. The above schemes have their own advantages, but it is still difficult to meet the above All requirements, objectively there is an urgent need for further improvement

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  • Automatic driving longitudinal unified planning method and system
  • Automatic driving longitudinal unified planning method and system
  • Automatic driving longitudinal unified planning method and system

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Embodiment Construction

[0059] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0060] This embodiment provides a longitudinal unified planning system for automatic driving, which mainly includes a planning algorithm module and a vehicle control module. The planning algorithm module is used to plan the expected acceleration in real time during the driving process of the vehicle based on a unified environmental model describing the surrounding environment information of the vehicle, considering the requirements of the vehicle's driving safety, riding comfort and driving efficiency. A vehicle control module is used to control the longitudinal motion of the vehicle ...

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Abstract

The invention relates to an automatic driving longitudinal unified planning method and system. The automatic driving longitudinal unified planning method comprises the following steps that (1) expected acceleration is planned in real time in the vehicle running process based on a unified environmental model describing information of the environment around a vehicle; and (2) longitudinal movement of the vehicle is controlled according to the expected acceleration and actual acceleration. According to the automatic driving longitudinal unified planning method, local optimal longitudinal planningbased on environmental constraints, performance indexes and driving behaviors can be achieved, and compared with the prior art, the automatic driving longitudinal unified planning method has the advantages that good applicability to different traffic scenes is achieved, and the optimality of final longitudinal movement is ensured.

Description

technical field [0001] The invention belongs to the technical field of automobiles and relates to an automobile automatic driving system, in particular to a longitudinal planning technology of the automobile automatic driving system. Background technique [0002] The development of vehicle intelligence, networking, electrification, and lightweight technology is considered to be an effective way to alleviate traffic congestion, reduce traffic accidents, reduce energy consumption, and control environmental pollution. It is also an important direction for future automobile development. At present, self-driving car technology has received extensive attention from the industry. Many domestic and foreign universities, enterprises and research institutions are carrying out related work in full swing. [0003] Generally, a complete autonomous driving system includes the following key technologies: environment perception, motion planning, control execution, human-machine co-driving,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/18B60W40/10B60W40/107
Inventor 陈慧阮焱东
Owner TONGJI UNIV
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