Autonomous driving method and system

An autonomous driving and automatic driving technology, applied in design optimization/simulation, internal combustion piston engine, mechanical equipment, etc., can solve the problems of difficult parameter calibration, ignoring the vehicle's own performance and passenger needs, and high model complexity

Active Publication Date: 2020-03-31
NORTH CHINA UNIVERSITY OF TECHNOLOGY +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing vehicle lane-changing models are more about the pursuit of vehicle driving efficiency or the fitting and reproduction of real vehicle lane-changing trajectories, sometimes ignoring the vehicle's own performance and the needs of passengers.
However, due to the differences in research angles and tools used by researchers, the targets and optimization targets of each model are also different, which makes the applicability of the models also have certain differences.
In addition, the complexity of some models is high, which makes it difficult to calibrate parameters, and the information calculation takes a long time, etc.

Method used

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  • Autonomous driving method and system

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Experimental program
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Embodiment 1

[0126] This embodiment provides an autonomous driving method, including the following steps:

[0127] collecting driving data of the automatic driving vehicle, inputting the driving data into an autonomous driving model to generate operating parameters of the automatic driving vehicle, so that the automatic driving vehicle can automatically operate based on the operating parameters,

[0128] The autonomous driving model includes an autonomous driving car-following model, an autonomous driving lane-changing model,

[0129] in,

[0130] The car-following model for autonomous driving is modeled based on the different driving states of the automatic driving vehicle divided by set behavior thresholds, the set behavior thresholds include safety thresholds and comfort thresholds, and the automatic driving vehicle's Different driving states are divided into free driving state, transition driving state and car-following driving state based on the size preset relationship between the e...

Embodiment 2

[0215] The features of this embodiment that are the same as those of Embodiment 1 will not be described in detail. The features of this embodiment that are different from Embodiment 1 are:

[0216] The self-driving vehicles are specifically self-driving vehicles, and the construction of the self-driving model includes:

[0217] 1. Division of vehicle states in the autonomous driving car-following model

[0218] The division of the vehicle state takes into account the needs of the vehicle for stability, safety, and comfort during driving, and takes the headway as the threshold for its division. The determination of this value takes into account the influence of changes in the acceleration of the surrounding vehicles and itself.

[0219] In order to ensure that the self-driving vehicle does not collide with surrounding vehicles during driving, it needs to meet a certain headway distance with the vehicle in front, that is, from the information acquisition to the braking of the se...

Embodiment 3

[0393] The same features of the present embodiment and the second embodiment will not be repeated, and the different features of the present embodiment and the second embodiment are:

[0394] The autonomous driving model is adapted to the UC-winRoad driving simulator.

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Abstract

The invention relates to an autonomous driving method and system. The following characteristics of the automatic driving vehicle are analyzed; constructing a following model; the lane changing characteristics of the automatic driving vehicle are analyzed; lane changing model simulation and artificial driving vehicle lane changing effects are achieved; in combination with influence factors of lanechanging of the automatic driving vehicle, lane changing characteristics and characteristics of an autonomous driving simulation platform, speed bearing degree and space allowance degree are introduced to constrain lane changing behaviors so as to construct a matching model, lane changing space is confirmed, and a lane changing preparation model is constructed; after the lane changing behavior isgenerated, according to the actual space size of the current lane change and considering the actual situation of information processing time delay, a lane changing speed control model based on the double-lane front driving vehicle and a track optimization model based on lane changing space are constructed, and it is ensured that the operation parameters generated through the autonomous driving model are accurately attached to the traffic scene where the automatic driving vehicle is actually located.

Description

technical field [0001] The invention belongs to the field of autonomous driving, and in particular relates to an autonomous driving method and system thereof. Background technique [0002] In recent years, the rapid increase in the number of cars has led to increasingly severe traffic problems, and the driver's cause is the main cause of traffic accidents. Autonomous driving technology can not only effectively avoid part of the driver's accident risk, but also bring huge social and economic benefits. Therefore, autonomous driving technology will become an effective way to solve the current road traffic problems. [0003] Autonomous driving vehicles realize vehicle information acquisition, behavior decision-making and self-control through the three major systems of "perception-decision-execution". There are three ways to research autonomous driving technology: First, research based on real vehicle testing, modifying human-driven vehicles to enable autonomous driving function...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20
CPCY02T10/40
Inventor 郭伟伟谭墍元李洋洋毛琰李颖宏郭子慧
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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