Bend passing control method and device for automatic driving vehicle, equipment and medium

Abstract

The embodiment of the invention discloses a bend passing control method and device for an automatic driving vehicle, equipment and a medium, and relates to the technical field of automatic driving. Atleast one implementation mode of the bend passing control method comprises the steps that the bend boundary in a perception area located in the current driving direction of the automatic driving vehicle is determined on the basis of the current position of the automatic driving vehicle in a bend; the current safe stopping distance of the automatic driving vehicle in the bend is determined throughcurrent driving parameters of the automatic driving vehicle and the bend boundary; a speed threshold value of the automatic driving vehicle is determined according to the current safe stopping distance, braking parameters of the automatic driving vehicle and the bend curvature corresponding to the current position; and the speed of the automatic driving vehicle is controlled to not exceed the speed threshold value. According to the embodiment of the bend passing control method and device for the automatic driving vehicle, the equipment and the medium, the passing success rate of the automaticdriving vehicle in the narrow bend can be increased, and the driving safety is guaranteed.

Description

technical field [0001] The embodiments of the present application relate to the field of computer technology, in particular to the field of automatic driving technology, and in particular to a method, device, device and medium for controlling curve passage of an automatic driving vehicle. Background technique [0002] Curves are high-incidence sections of traffic accidents. Reasonable control of the motion state of vehicles driving in the curves can ensure that the vehicles pass through the curves smoothly and reduce the occurrence of traffic accidents in the curves. [0003] At present, for self-driving vehicles, the preset speed adjustment value is usually used in the prior art to control the driving speed in the curve, so that the vehicle can pass the curve smoothly, but the preset adjustment value cannot adapt to the changeable curve In the environment, it is easy to have unreasonable speed adjustment, which makes the success rate of vehicles passing in curves low. Con...

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Problems solved by technology

[0003] At present, for self-driving vehicles, the preset speed adjustment value is usually used in the prior art to control the driving speed in the curve, so that the vehicle can pass the curve smoothly, but the preset adjustment value cannot adapt to the changeable curve environment, it is easy to have unreasonable speed adjustment, which makes the success rate of vehicles passing in curves low

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