A local trajectory fault tolerance method for an intelligent driving vehicle

A technology for intelligent driving and vehicles, applied in two-dimensional position/lane control, satellite radio beacon positioning system, measurement device and other directions, which can solve the problems of discontinuous lanes, incorrect recognition and instability in the exit lane.

Inactive Publication Date: 2019-05-07
HUNAN CSR TIMES ELECTRIC VEHICLE
View PDF5 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the existing local path planning methods for intelligent driving vehicles mainly include path planning methods based on heuristic search, intelligent bionics, behavior planning, and reward learning. These methods have achieved good results in global path planning, but have not Consider the difficult adaptability of the planning system due to data instability, such as lane discontinuity and lane error recognition under semi-structured roads, or GPS / IMU positioning distortion

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A local trajectory fault tolerance method for an intelligent driving vehicle
  • A local trajectory fault tolerance method for an intelligent driving vehicle
  • A local trajectory fault tolerance method for an intelligent driving vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0084] The implementation of the present invention will be described in detail below in conjunction with the accompanying drawings and examples, so as to fully understand and implement the process of how to apply technical means to solve technical problems and achieve technical effects in the present invention. It should be noted that, as long as there is no conflict, each embodiment and each feature in each embodiment of the present invention can be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.

[0085] Also, in the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without the specific details or in the particular manner described.

[0086] In addition, the steps shown in the flow dia...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a local trajectory fault tolerance method for an intelligent driving vehicle, and the method comprises the steps: step 1, initializing a following mode, and constructing a vehicle coordinate system of the intelligent driving vehicle; step 2, based on the vehicle coordinate system, performing validity judgment on GPS data according to the obtained GPS data to obtain a GPS data validity judgment result; step 3, determining a lane line recognition state according to the GPS data and obtained lane line data, and determining a real fault-tolerant deviation; and step 4, updating the following mode of the intelligent driving vehicle according to the GPS data validity judgment result, the lane line recognition state and the real fault-tolerant deviation, and determining theplanned trajectory of the intelligent driving vehicle according to the updated following mode. According to the method, fault tolerance can be carried out based on each data state, and correspondingdata can be dynamically updated in real time. The method is easy to apply practically, the robustness of data processing can be improved, and the complexity of the system can be effectively simplified.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a local track fault-tolerant method for intelligent driving vehicles. Background technique [0002] Intelligent driving vehicles refer to intelligent vehicles that can automatically plan driving routes and control vehicles to reach predetermined targets by sensing the road environment through on-board sensor systems. Path trajectory planning in intelligent driving technology is one of the key technologies in the field of intelligent driving. In the process of intelligent driving in a semi-structured environment, the vehicle is prone to complex emergencies such as signal instability caused by GPS / IMU interference, unclear or discontinuous lane lines, or misidentified lane lines. Local trajectory planning is dynamic planning in non-specific scenarios, which requires accurate lane following and quick response to abnormal emergencies. [0003] At present, the existing l...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16G01C21/34G01C25/00G01S19/47G05D1/02
Inventor 唐广笛胡旭朱田雷悠彭再武王文明彭之川
Owner HUNAN CSR TIMES ELECTRIC VEHICLE
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap