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Vehicle driving route tracking control method and device

A vehicle driving and tracking control technology, applied in the field of urban public transportation

Active Publication Date: 2020-04-17
CHINA INTELLIGENT & CONNECTED VEHICLES (BEIJING) RES INST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention provides a vehicle driving route tracking control method and device to solve the problem of vehicle tracking ability of complex driving routes

Method used

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  • Vehicle driving route tracking control method and device
  • Vehicle driving route tracking control method and device
  • Vehicle driving route tracking control method and device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] This embodiment provides a route tracking control method for vehicle driving, which can be used in automatic driving systems, such as figure 1 shown, including:

[0036] S11: Obtain the driving state information of the target vehicle, the environment information around the target vehicle, and the traffic state information of the target vehicle.

[0037] Exemplarily, the state information of the target vehicle, the environment information around the target vehicle, and the traffic state information of the target vehicle can be acquired through the perception device of the target vehicle. The perception device may be a global positioning system, a camera, a magnetic induction positioning device, or an inertial navigation device. The embodiment of the present application does not limit the sensing device, and those skilled in the art can determine it according to actual use needs.

[0038] S12: Generate a target route for the target vehicle according to the state informa...

Embodiment 2

[0101] An embodiment of the present application provides a vehicle driving route tracking control device, such as Figure 8 shown, including:

[0102] The information obtaining module 81 is used to obtain the driving state information of the target vehicle, the environment information around the target vehicle and the traffic state information of the target vehicle. For details, refer to the description related to step S11 in the above method embodiment, and details are not repeated here.

[0103] The route generation module 82 is used to generate a target route for the target vehicle according to the state information of the target vehicle, the environment information around the target vehicle and the traffic state information of the target vehicle, and obtain multiple target points of the target route at the current moment. For details, refer to the description related to step S12 in the above method embodiment, and details are not repeated here.

[0104] A calculating mod...

Embodiment 3

[0108] The embodiment of the present application also provides an automatic driving device, such as Figure 9 As shown, the automatic driving device may include a processor 91 and a memory 92, wherein the processor 91 and the memory 92 may be connected via a bus or in other ways, Figure 9 Take connection via bus as an example.

[0109]The processor 91 may be a central processing unit (Central Processing Unit, CPU). Processor 91 can also be other general processors, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or Other chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above-mentioned types of chips.

[0110] The memory 92, as a non-transitory computer-readable storage medium, can be used to store non-transitory software p...

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Abstract

The invention provides a vehicle driving route tracking control method and device. The vehicle driving route tracking control method comprises the steps of obtaining the driving state information of atarget vehicle, the surrounding environment information of the target vehicle, and the traffic state information of the target vehicle; according to the driving state information of the target vehicle, the surrounding environment information of the target vehicle and the traffic state information of the target vehicle, generating a target route for driving of the target vehicle, and obtaining a plurality of target points of the target route at the current moment; calculating steering angle information according to the information of the plurality of target points; and controlling the target vehicle to drive along the target route according to the steering angle information. According to the method, the target vehicle can flexibly track complex driving routes, and the problem that the vehicle cannot track complex driving routes such as a large-curvature route and an urban variable-curvature route with complex terrain is solved, so that the vehicle can safely and reliably drive on the road, and the driving safety of the vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of urban public transportation, in particular to a route tracking control method and device for an automatic driving vehicle. Background technique [0002] With the development of science and technology, self-driving cars have entered the public's field of vision. Since the self-driving car can perceive its own motion state information, surrounding environment information and traffic information through the on-board sensing device, and design a reasonable driving route and motion control operation based on the information obtained through the sensing device, so that the vehicle can be safely and reliably on the road. Driving, reducing the driver's driving labor intensity, improving vehicle driving safety, making life and work travel easier, etc., are widely accepted by the public. [0003] Traditional proportional-integral-differential (proportion-integral-differential, PID), proportional-differential (prop...

Claims

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Application Information

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IPC IPC(8): B60W30/095B60W40/02B60W40/10
CPCB60W30/095B60W40/02B60W40/10
Inventor 李红王博李克强刘洋罗来全
Owner CHINA INTELLIGENT & CONNECTED VEHICLES (BEIJING) RES INST CO LTD
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