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Vehicle automatic driving method and device

An automatic driving and vehicle technology, applied in the field of vehicles, can solve the problems of high computing performance requirements, low control output frequency, and insufficient computing performance of unmanned driving platforms, and achieve the effects of shortening computing time, improving efficiency, and reducing computing workload

Active Publication Date: 2022-06-28
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In related technologies, the lateral control is realized based on the optimization method. However, this control method requires a large amount of computation and requires high computing performance of the unmanned driving platform.
In most current platforms, there will be insufficient computing performance and low control output frequency, resulting in control instability.

Method used

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  • Vehicle automatic driving method and device
  • Vehicle automatic driving method and device
  • Vehicle automatic driving method and device

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Embodiment Construction

[0037] The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

[0038] The following describes the vehicle automatic driving method and device based on the lane center line according to the embodiments of the present invention with reference to the accompanying drawings.

[0039] In order to achieve a more stable and efficient unmanned lateral control, the present invention provides a new set of lateral control methods for the unmanned driving system, and the command can be used to control the vehicle to smoothly follow the lateral centerline, turn co...

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Abstract

The present invention proposes a vehicle automatic driving method and device based on the lane centerline, wherein the method includes: identifying the lane centerline where the current vehicle is driving, and obtaining the horizontal distance between the current vehicle and the lane centerline, and the real-time vehicle speed of the current vehicle and real-time motion curvature; calculate the horizontal distance, real-time vehicle speed and real-time motion curvature according to the preset first helix formula, and obtain the parameters of the reference helix; according to the preset second helix formula, calculate the parameters, real-time vehicle speed and real-time Calculation of motion curvature to obtain the current helix; determine the rotation angle command of the steering wheel according to the first curvature of the current helix, and control the current vehicle to perform automatic driving according to the rotation angle command. Therefore, the automatic driving control based on the helix ensures the sense of automatic driving, and based on the predetermined formula, the helix corresponding to the current vehicle driving can be directly determined, which ensures the control accuracy while reducing the amount of computation.

Description

technical field [0001] The present invention relates to the technical field of vehicles, and in particular, to a vehicle automatic driving method and device based on a lane centerline. Background technique [0002] The driverless car integrates many technologies such as automatic control, architecture, artificial intelligence, visual computing, etc. It is the product of the highly developed computer science, pattern recognition and intelligent control technology. It controls the vehicle to follow the desired path. The vehicle control system can be divided into longitudinal and lateral control. The longitudinal control of the car's acceleration and deceleration, and the lateral control of the vehicle's steering, lane change and lane keeping, among them, the lateral control is of great significance in the entire automatic driving system. Straight line, steering, and lane change are all inseparable from lateral control. [0003] In the related art, lateral control is realized...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0242G05D1/0253G05D1/0223G05D1/0221G05D1/0276G05D2201/0212B60W30/18163B60W30/12B62D15/025B60W2552/53B60W2520/10B60W2710/207B60W2520/14B60W2552/30B60W40/072B60W60/001B60W2710/20B62D15/021G06V20/588
Inventor 唐科黄加勇彭夏鹏秦文闯邵启扬
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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