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Transverse control method and system of automatic driving vehicle

A technology of automatic driving and lateral control, applied in the field of automatic driving to achieve the effect of improving driving safety

Active Publication Date: 2020-09-29
毫末智行科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In view of this, the present invention aims at proposing a lateral control method of an automatic driving vehicle to solve the problem of correct control of lateral vehicle behavior

Method used

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  • Transverse control method and system of automatic driving vehicle
  • Transverse control method and system of automatic driving vehicle
  • Transverse control method and system of automatic driving vehicle

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Embodiment Construction

[0042] It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0043] figure 1 It is a schematic flowchart of a lateral control method of an automatic driving vehicle according to an embodiment of the present invention, which is applied to the control part of the ADS of the automatic driving vehicle. Such as figure 1 As shown, the lateral control method may include the following steps:

[0044] Step S100, receiving decision information about the expected lateral behavior of the vehicle output by the decision system of the autonomous vehicle.

[0045] Wherein, the expected lateral behavior includes any one of lane keeping, normal lane changing of the vehicle and abnormal lane changing of the vehicle. Specifically, the decision-making system (or decision-making part) judges and outputs the horizontal and vertical vehicle behaviors of the self-driving vehicle according to t...

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PUM

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Abstract

The invention relates to the technical field of automatic driving, and provides a transverse control method and system of an automatic driving vehicle. The transverse control method comprises the following steps: receiving decision information about an expected transverse behavior of a vehicle; and in response to the decision information, executing any one of the following actions: lane keeping control, vehicle normal lane changing control and vehicle abnormal lane changing control, wherein a target steering wheel corner matched with the lane keeping control is determined on the basis of a preview road curvature of the vehicle, a current course angle deviation and a current transverse position deviation, and a first condition enabling the course angle deviation and the transverse positiondeviation to be zero and a second condition enabling the current preview road curvature to reach a set optimal road curvature are met; and the target steering wheel corner matched with the vehicle abnormal lane changing control is determined based on a current transverse state value of the vehicle and a target line to which the vehicle is about to move, and first and second conditions are met. Lane keeping, normal lane changing or abnormal lane changing of the vehicle can be controlled according to transverse behaviors of the vehicle, and the method and the system are suitable for various complex working conditions.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a lateral control method and system for an automatic driving vehicle. Background technique [0002] Autonomous driving vehicle refers to a kind of intelligent vehicle that perceives the road environment through the on-board sensor system, automatically plans the driving route and controls the vehicle to reach the predetermined destination. It relies on the Autonomous Driving System (ADS for short) to realize its functions. According to the development and design process of ADS, ADS can be divided into five parts: environment perception, data fusion, decision-making, control and execution. [0003] Specifically, the environmental perception part is used to extract the current driving environment information of vehicles, pedestrians, roads, traffic signs, etc. through the on-board sensing part; the data fusion part is used to filter, correlate, track and filter different ...

Claims

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Application Information

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IPC IPC(8): B60W30/18B60W30/12B60W40/072B60W40/114
CPCB60W30/12B60W30/18163B60W40/072B60W40/114B60W2520/14
Inventor 鲁宁张凯和林甄龙豹葛建勇王天培高健张健刘洪亮曹增
Owner 毫末智行科技有限公司