确定操作自动驾驶车辆的转向率的方法、介质及处理系统
确定操作自动驾驶车辆的转向率的方法、介质及处理系统
在一个实施方式中，为用于操作自动驾驶车辆的转向控制命令确定若干转向率候选项。针对所述转向率候选项中的每一个，通过应用多个成本函数计算对于所述转向率候选项的若干个体成本，每个成本函数与多个成本类别之一对应。基于通过成本函数生成的个体成本确定用于转向率候选项的总成本。选择转向率候选项中具有最低总成本的转向率候选项作为目标转向率。基于所选择的转向率候选项生成转向控制命令，以控制自动驾驶车辆的方向盘。
In one embodiment, a number of steering rate candidates are determined for a steering control command of operating an autonomous vehicle. For each of the steering rate candidates, a steering rate cost is calculated for the steering rate candidate by applying a predetermined cost function, including calculating a first cost for the steering rate candidate based on a difference between a target steering position and a current steering position of the autonomous vehicle using a first predetermined cost function. One of the steering rate candidates having a lowest steering rate cost is selected as a target steering rate. A steering control command is generated based on the selected steering rate candidate to control a steering wheel of the autonomous vehicle.
Dokumentinformationen
确定操作自动驾驶车辆的转向率的方法、介质及处理系统
2022-02-01
Patent
Elektronische Ressource
Chinesisch
| IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |