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Curve speed calculation method and device and curve control method and device for autonomous vehicle

A technology of automatic driving and speed calculation, applied in two-dimensional position/channel control and other directions, which can solve the problems of inclination of people in the car and discomfort of people in the car.

Active Publication Date: 2019-05-21
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] When the self-driving vehicle is driving on a curve, if the speed control is unreasonable, it will cause discomfort to the occupants in the vehicle, for example, it may cause the occupants to tilt, etc.

Method used

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  • Curve speed calculation method and device and curve control method and device for autonomous vehicle
  • Curve speed calculation method and device and curve control method and device for autonomous vehicle
  • Curve speed calculation method and device and curve control method and device for autonomous vehicle

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Embodiment Construction

[0043] The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.

[0044] figure 1 A schematic flowchart of a method for calculating a curve speed for an automatic driving vehicle according to an embodiment of the present invention is shown. Such as figure 1As shown, the embodiment of the present invention provides a curve speed calculation method for an automatic driving vehicle, and the method may include: step S110, obtaining the curvature radius of the curve; step S120, determining a comfortable cornering curve according to the curvature radius The maximum speed of the automatic driving vehicle and the perception limit distance of the curve...

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Abstract

The embodiment of the invention provides a curve speed calculation method and device and a curve control method and device for an autonomous vehicle, and belongs to the field of automatic driving. Thecalculation method comprises the steps of acquiring the curvature radius of a curve; determining the highest speed of comfortable turning and the perceived limit distance of the autonomous vehicle for the curve according to the curvature radius; calculating the perceived limit speed of the autonomous vehicle for the curve according to the perceived limit distance; and determining a minimum valueof the highest speed of the comfortable turning and the perceived limit speed as the curve speed. According to the method, discomfort caused by overlarge transverse acceleration during turning can beavoided, meanwhile, the influence of a curve on the limit perception capacity is considered, and curve speed calculation is more reasonable.

Description

technical field [0001] The present invention relates to the field of automatic driving, in particular to a calculation method, control method and device for a curve speed of an automatic driving vehicle. Background technique [0002] The emergence of automatic driving technology has provided convenience for vehicle driving, especially in situations where it is necessary to drive a vehicle for a long time. It can ensure safe and reliable driving and avoid fatigue driving without affecting the driving schedule. [0003] When the self-driving vehicle is driving on a curve, if the speed control is unreasonable, it will cause discomfort to the occupants in the vehicle, for example, it may cause the occupants to tilt. Contents of the invention [0004] The purpose of the embodiments of the present invention is to provide a curve speed calculation method, control method and device for an automatic driving vehicle, which are used to at least solve the above technical problems. ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 刘思远
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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