Automatic driving control method in complex environment

Abstract

The invention discloses an automatic driving control method in a complex environment. The automatic driving control method comprises the following steps: 1, collecting data of a target vehicle; 2, separating characteristic data, and positioning the position of a target vehicle and the driving environment of the target vehicle; 3, obtaining the distance between the target vehicle and the lane marker line through calculation, wherein the difference value between the distance and the expected distance is calculated, judgment is conducted according to the difference value, if it is judged that following is kept, the step 6 is executed, and if not, the step 4 is executed; 4, judging whether the target driving environment meets a lane changing condition or not, if yes, executing lane changing, and if not, judging that following is kept, and executing the step 6; 5, enabling the target vehicle to change lanes, and executing the step 6 after lane changing is completed; and 6, regulating and controlling the driving track of the target vehicle according to a car-following keeping method. According to the invention, lane changing control of the target vehicle is ensured to reach enough precision, and reasonable and controllable construction and maintenance cost is ensured.

Description

technical field [0001] The invention relates to an automatic driving control method in a complex environment. Background technique [0002] With the continuous improvement of my country's transportation network, the continuous improvement of the level of informatization, the continuous enhancement of electronic computing capabilities, and the increasingly complex traffic environment, under the global upsurge of autonomous driving, in order to take the initiative and take the lead in making breakthroughs, how to control vehicles and roads today? The effective combination to realize the intelligence of the car has become the focus of research and development of autonomous driving technology. The main idea of ​​the existing technology is divided into two types, one is the transformation of the vehicle, through the integration of multiple sensing units on the vehicle to realize the effective identification and active control of the vehicle on the road; the other is the transforma...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an automatic driving control method in a complex environment to solve the problem that the prior art cannot guarantee sufficient precision for the lane change control of the target vehicle , while ensuring that the construction and maintenance costs are reasonable and controllable

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