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Method and device for correcting transverse drift of autonomous vehicle

A self-driving and vehicle technology, applied in the field of correcting lateral drift of self-driving vehicles, can solve problems such as failure to reach the target point, unoptimized trajectory, accidents, etc., achieve good real-time performance, avoid lateral drift, and have remarkable effects

Active Publication Date: 2021-11-26
紫清智行科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, the trajectory of the vehicle is not optimal, and it is possible for the vehicle to drive along the edge, causing accidents. When the vehicle is in a corner, the vehicle may drive at the corner and fail to reach the target point due to mechanical restrictions or maximum corner restrictions.

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  • Method and device for correcting transverse drift of autonomous vehicle
  • Method and device for correcting transverse drift of autonomous vehicle
  • Method and device for correcting transverse drift of autonomous vehicle

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Embodiment Construction

[0040] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0041] The technology of correcting lateral drift in the field of automatic driving refers to that after the path planning determines the target and trajectory, it is sent to the control module to control the vehicle. However, due to mechanical reasons, the lateral drift is unmeasurable, and the vehicle can sense the lateral drift in time. Adjust the controller and correct the pose of the vehicle to ensure the accuracy and robustness of the route. By correcting the technology of lateral drift, combined with the perception and decision-making modules in automatic driving, the problem of yaw can be solved, which is suitable for low-featured scenes such as large indoor corridors.

[0042] The method and device for correcting lateral drift of an automatic driving vehicle provided by the embodiments of the present invention are applied to an automatic driv...

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Abstract

The embodiment of the invention discloses a method and device for correcting transverse drift of an automatic driving vehicle, and the method comprises the steps: planning a path according to the current pose of the vehicle and a target point, and enabling the vehicle to run along the planned path; comparing the driving track of the vehicle with the planned path; when the transverse drift of the vehicle exceeds a threshold value, judging whether the transverse drift of the vehicle is continuously constant or not; when the transverse drifting of the vehicle is continuously constant, an instruction which is issued to a chassis of the vehicle and is used for indicating the speed of the vehicle is obtained, modifying a speed value in the instruction, and issuing the modified speed value to the chassis of the vehicle so as to correct the continuously constant transverse drifting of the vehicle. According to the scheme provided by the embodiment of the invention, dynamic compensation is carried out according to the current transverse drift, continuous transverse drift is effectively avoided, the real-time performance is good, the effect is remarkable, and a guarantee is provided for automatic driving to better execute a planned path.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving, in particular to a method and device for correcting lateral drift of an automatic driving vehicle. Background technique [0002] Perception, decision-making, and control are essential links in current autonomous driving technology. For the navigation of existing self-driving vehicles, path planning is established based on the target location, and local planning is re-performed at regular intervals. If the car drifts laterally, the planner will re-plan according to the current yaw position when re-planning, and eventually the car can still reach the target position. [0003] However, the trajectory of the vehicle is not optimal, and it is possible for the vehicle to drive along the edge, causing accidents. When the vehicle is in a corner, the vehicle may drive at the corner and fail to reach the target point due to mechanical restrictions or maximum corner restrict...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W60/00B60W30/10B60W40/105
CPCB60W60/001B60W30/10B60W40/105B60W2720/12B60W2720/14
Inventor 王映焓于洋王更泽王宜飞
Owner 紫清智行科技(北京)有限公司
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