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Lateral control method and system for autonomous driving vehicle

A technology for autonomous driving and lateral control, applied in the field of autonomous driving

Active Publication Date: 2022-05-17
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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  • Lateral control method and system for autonomous driving vehicle
  • Lateral control method and system for autonomous driving vehicle
  • Lateral control method and system for autonomous 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. like 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 the ...

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Abstract

The invention relates to the technical field of automatic driving, and provides a lateral control method and system for an automatic driving vehicle. The lateral control method includes: receiving decision information about the expected lateral behavior of the vehicle; and in response to the decision information, performing any of the following: lane keeping control, the target steering wheel angle matched therewith is based on the vehicle's preview road curvature, current heading The angular deviation and the current lateral position deviation are determined, and the first condition of making the heading angle deviation and lateral position deviation 0 and the second condition of making the current preview road curvature reach the set optimal road curvature are satisfied; normal vehicle lane change control ; Vehicle abnormal lane change control, the matching target steering wheel angle is determined based on the current lateral state value of the vehicle and the target line to which it will move, and the first condition and the second condition are met. The invention can control the lane keeping, the normal lane changing of the vehicle or the abnormal lane changing of the vehicle aiming at the lateral behavior of the vehicle, and is applicable to various complicated 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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Patent Type & Authority Patents(China)
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