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Method and system for predicting vehicle driving track

A technology of vehicle driving and prediction methods, which is applied to vehicle components, driver input parameters, control devices, etc., and can solve problems such as low reliability

Active Publication Date: 2021-05-25
ZHENGZHOU YUTONG BUS CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to provide a method and system for predicting vehicle trajectory, which is used to solve the problem of low reliability of the prediction method in the prior art

Method used

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  • Method and system for predicting vehicle driving track
  • Method and system for predicting vehicle driving track
  • Method and system for predicting vehicle driving track

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Embodiment Construction

[0023] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0024] Method example:

[0025] When estimating the turning radius of the vehicle in transient driving, the driving state of the vehicle is divided into three states: A, B, and C according to the driving speed v and the steering wheel angle δ. The specific division methods are shown in Table 1. Among them, v 1 and δ 1 They are the threshold values ​​of driving speed and steering wheel angle respectively, which need to be calibrated according to different models.

[0026] Table 1

[0027]

[0028] In state A, the turning radius of the vehicle is much larger than the wheelbase of the vehicle, and the side slip angle of the rear axle vehicle can be ignored at this time; in state B, the vehicle is in the linear stage, but the side slip angle of the vehicle cannot be ignored at this time. Compensate the difference between the instantaneous...

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Abstract

The invention relates to a vehicle driving track prediction method and system. The method comprises the steps: obtaining the driving vehicle speed and the steering wheel angle of a vehicle, and when the driving vehicle speed is greater than or equal to a vehicle speed threshold value and the steering wheel angle is smaller than a steering angle threshold value, or when the driving vehicle speed is smaller than the vehicle speed threshold value and the steering wheel angle is greater than or equal to a steering angle threshold value, outputting a prediction result. A first influence factor is determined according to the ratio of the measured value to the theoretical value of the yaw velocity of the vehicle, and the turning radius is corrected according to the first influence factor; and when the running speed is greater than the speed threshold value and the steering wheel angle is greater than the steering angle threshold value, determining a first influence factor according to the ratio of the measured value to the theoretical value of the yaw velocity of the vehicle, determining a second influence factor according to the side slip angle of the vehicle, and correcting the turning radius according to the first influence factor and the second influence factor. According to the method, the steering radius is corrected in different running states, so that the accuracy of traveling track estimation is improved.

Description

technical field [0001] The invention belongs to the technical field of vehicle travel control, and in particular relates to a method and system for predicting vehicle travel trajectories. Background technique [0002] The prediction of vehicle trajectory is crucial to the control of intelligent vehicles. Only by accurately predicting the trajectory of the vehicle under different input conditions can the vehicle's steering wheel angle be changed by comparing the vehicle's predicted trajectory with the planned trajectory, so as to realize functions such as vehicle steering and obstacle avoidance, and ensure safe driving of the wheels. [0003] In the prior art, the Chinese invention patent application with the publication number CN109186607A provides a method for predicting vehicle trajectory points. The method determines the current coordinate point of the vehicle according to the GPS signal. If the current coordinate point determined by the GPS is consistent with the previou...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/10
CPCB60W40/10B60W2520/10B60W2520/12B60W2540/18
Inventor 黄琨苏常军石冠男吴帅刚郭潇然
Owner ZHENGZHOU YUTONG BUS CO LTD