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U-shaped automatic turning control system and U-shaped automatic turning control method in autopilot

A technology of automatic driving and control method, applied in the field of automatic driving, can solve problems such as difficult to complete U-turn operation, achieve the effect of improving road adaptability and safety

Inactive Publication Date: 2019-10-01
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, it is difficult for existing self-driving cars to complete U-turn operations on narrow roads

Method used

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  • U-shaped automatic turning control system and U-shaped automatic turning control method in autopilot
  • U-shaped automatic turning control system and U-shaped automatic turning control method in autopilot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] U-turn control system such as figure 1 As shown, it includes a central control unit 1, a sensor module 2, a map module 3, a positioning module 4, a CAN network module 5, an actuator module 6, a turn signal module 7, and the like.

[0038] The sensor module 2 is used to detect obstacle information. In this embodiment, the sensor module 2 uses sensors such as ultrasonic waves and millimeter waves. The ultrasonic radar is mainly used for detecting short-distance obstacles during the U-turn process. The front and rear of the car detect the obstacle information in front and behind. The sensor can adopt various types of sensors used in existing smart cars, and can directly send the collected targets to the CAN bus, and the central control unit can directly read the target information from the CAN bus.

[0039] The map module 3 uses a high-precision map, which is collected and made by the automatic driving. The high-precision map needs to preset the U-turn area, and number ...

Embodiment 2

[0045] For a method of performing a U-turn using the above system, see figure 2 , including the following steps:

[0046] Step 1. The vehicle is in the automatic driving mode, and the horizontal and vertical directions are automatically controlled by the central control unit 1 .

[0047] Step 2, the central control unit 1 judges whether the vehicle has entered the U-turn area by reading the high-precision map and positioning information of the map module 3 and the positioning module 4 .

[0048] Step 3. When entering the U-shaped U-turn area, the central control unit 1 sends a parking command to the actuator 6, the vehicle stops and waits, and at the same time, the turn signal 7 sends a control signal to remind the personnel on the vehicle and other vehicles on the road to drive automatically The vehicle is to make a U-turn.

[0049] Step 4, the sensor module 2 judges whether the road in the direction of the U-turn meets the U-turn condition, that is, whether there is an ob...

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Abstract

The invention provides a U-shaped automatic turning control system and a U-shaped automatic turning control method in autopilot. The U-shaped automatic turning control system is characterized in thatwhether a vehicle enters a turning area or not is judged according to high-precision map information; the collision between the vehicle and obstacles is avoided by real-time sensing of ultrasonic waveand millimeter wave radar to the obstacles around the vehicle; the operating range of the vehicle is calculated according to wheel speed information, and further the front-back driving distance of the vehicle is accurately determined; and a central control precisely controls the gear, the vehicle speed and the corner, ensures automatic turn on a narrow road by the autopilot, and improves the roadadaptability of the autopilot and the safety of the system.

Description

technical field [0001] The invention belongs to automatic driving technology, in particular to the U-turn control technology in automatic driving. Background technique [0002] L4-level autonomous driving needs to operate in urban road conditions, and urban road conditions are complex, and sometimes a U-turn is required. At present, when autonomous driving is driving on unstructured roads in urban areas, it usually drives according to the trajectory. If you want to make a U-turn, you need a very wide road surface to complete it. The specific width of the road surface is related to the turning radius of the vehicle, and when considering automatic driving EPS limits the maximum corner speed and maximum corner angle, and the actual required road width is greater than the U-turn road width of manual driving. Therefore, it is difficult for existing self-driving cars to complete U-turn operations on narrow roads. Contents of the invention [0003] Aiming at the shortcomings of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W10/20B60W10/11B60W10/18B60W30/08B60W30/18B60W40/02B60W40/105
CPCB60W10/11B60W10/18B60W10/20B60W30/08B60W30/18145B60W40/02B60W40/105
Inventor 文滔贺勇梁锋华孔周维
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD
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