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Automatic driving method and device

A technology of automatic driving and driving routes, applied in the automotive field, can solve the problems of poor user experience and frequent parking of self-driving vehicles, and achieve the effect of reducing the number of parking times and improving user experience

Inactive Publication Date: 2019-12-13
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides an automatic driving method and device, which is used to solve the situation in the prior art that if multiple transient lane lines are lost or unclear in the driving lane, the number of parking times of the automatic driving vehicle will be more, and the user experience will be poor. The problem

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  • Automatic driving method and device
  • Automatic driving method and device

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Embodiment approach

[0126] In a possible implementation manner, the prediction module 403 is specifically used to:

[0127] Determining a preset number of discrete points falling on the driving route planned for the vehicle at the previous moment;

[0128] Convert the coordinates of each discrete point according to the pose information of the vehicle at the current moment and the previous moment;

[0129] According to the coordinates of each discrete point after conversion, the polynomial of the driving route of the vehicle is fitted, and the fitted polynomial is determined as a mathematical expression of the driving route planned for the vehicle at the current moment.

[0130] In a possible implementation manner, the prediction module 403 is specifically configured to convert the coordinates of each pair of discrete points according to the following formula:

[0131]

[0132]

[0133] Δθ=θ t -θ t-1 ;

[0134] Among them, (x t ,y t ) is the position coordinates of the vehicle at the cur...

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Abstract

The invention provides an automatic driving method and device and belongs to the technical field of automobiles. The automatic driving method comprises the steps of collecting image information in front of a running lane in real time when a vehicle is in an automatic driving state; detecting the front image information collected at a current time; planning a running line for the vehicle accordingto a detected effective lane line image and running position information, set for the vehicle, in the lane; if the effective lane line image information is not detected at the current time, predicating the running line planned for the vehicle at the current according to a running line planned for the vehicle at a previous time, the current time and pose and position information of the vehicle at the previous time so as to calculate a position, which the vehicle runs to at a next time, according to the predicated running line and a given running distance; and driving the vehicle to run to the corresponding position. Therefore, even though the lane line is momently lost or not clear, a lane can be still effectively kept so that the parking frequency of an autonomous vehicle can be reduced.

Description

technical field [0001] The present application relates to the technical field of automobiles, in particular to an automatic driving method and device. Background technique [0002] With the rapid development of automobile technology, automatic driving has shown great advantages in safe travel, energy saving and environmental protection. Therefore, automatic driving is considered to be an effective way to solve traffic congestion, reduce traffic accidents and improve environmental pollution. [0003] In the prior art, when the vehicle is in the automatic driving state, the image information of the lane line in front of the current driving lane can be collected in real time, and then the image with clear lane line is detected from the image collected at the current moment as an effective lane line image, For each frame of valid lane line images, the feature points of the lane lines on the left and right sides of the current driving lane of the vehicle can be extracted respecti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/12
CPCB60W30/12
Inventor 涂强苏阳肖志光梁志远
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD