Curve passing control method, device, equipment and medium for autonomous vehicles

Abstract

The embodiment of the present application discloses a curve passage control method, device, equipment and medium of an automatic driving vehicle, and relates to the technical field of automatic driving. At least one implementation of the curve passage control method includes: based on the current position of the automatic driving vehicle in the curve, determining the boundary of the curve within the sensing area in the current driving direction of the automatic driving vehicle; using the current position of the automatic driving vehicle The driving parameters and the curve boundary determine the current safe stopping distance of the self-driving vehicle in the curve; determine the speed threshold of the self-driving vehicle according to the current safe stopping distance, the braking parameters of the self-driving vehicle and the curvature of the curve corresponding to the current position; control The speed of the autonomous vehicle does not exceed the speed threshold. The embodiment of the present application can improve the success rate of passing the self-driving vehicle in the narrow curve, and ensure driving safety.

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...

AI Technical Summary

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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