Autonomous Driving Control System for Highway Scenarios

Abstract

The invention discloses an automatic driving control system for highway scenes, including: a vision module, a radar module, a positioning module, an information fusion unit, a planning and decision-making unit, a vehicle motion coordination controller, a torque sensor and an electric power steering controller. . The electric power steering controller is used to control the lateral movement of the vehicle based on the lateral movement command in the automatic driving mode; it is also used to control the lateral movement of the vehicle based on the driver's manipulation torque signal and the lateral movement command in the non-autonomous driving mode. Utilizing the present invention, when driving on a highway with a small curvature, the vehicle coordination controller controls the electric power steering to control the lateral movement, thereby achieving comfort and stability when driving at high speed on a road with a small curvature and accurate obstacle avoidance when driving at a low speed on a road with a large curvature. need. When driving on a highway with a large curvature, it can switch to the driver's control mode, achieving precise human-computer interaction and avoiding collisions.

Description

technical field [0001] The present invention relates to automatic driving technology, in particular to an automatic driving control system oriented to a highway scene. Background technique [0002] As the future development direction of traditional fuel vehicles and new energy vehicles, autonomous driving technology has been vigorously promoted by the industry. Major automakers, parts companies and technology companies around the world have devoted a lot of energy to the research and development, testing and verification of autonomous driving related technologies. [0003] For a long time in the future, the typical application scenarios of automatic driving functions will focus on the specific functions of highway scenarios. The highway scenarios include high-speed and small-curvature lanes with a radius of ≥250m and low-speed and large curvature with a radius of less than 250m. Lanes; the specific functions described include the functions of vehicles staying in the same lan...

AI Technical Summary

Problems solved by technology

[0006] However, limited by this system solution, for example, relying solely on the vision module to obtain lane line information is not suitable for small curvature lanes; and based on the target steering torque to control the power steering of the power assist motor, it is not only difficult to guarantee the accuracy of vehicle lateral motion, but also The time to eliminate the lateral deviation of the vehicle, that is, the time to correct the vehicle to keep driving in the same lane is relatively long. Therefore, this system solution is only suitable for controlling the vehicle to cruise in a single lane with a road radius ≥ 250m, and it is difficult to apply to vehicles with a smaller radius. Vehicle lateral motion control involved in lane and multi-lane changes

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