Automatic driving vehicle control method and device, electronic equipment and storage medium
Automatic driving vehicle control method and device, electronic equipment and storage medium
- Neue Suche nach: ZHU LEI
- Neue Suche nach: LI YAN
- Neue Suche nach: FEI ZAIHUI
- Neue Suche nach: ZHU LEI
- Neue Suche nach: LI YAN
- Neue Suche nach: FEI ZAIHUI
The invention provides an automatic driving vehicle control method and device, electronic equipment and a storage medium, relates to the field of automatic driving, and aims to solve the problem that a vehicle shakes greatly in a tracking mode when a positioning error is too large. The method comprises the following steps: in response to a situation that a positioning error exceeds a preset error threshold value and a positioning confidence coefficient is lower than a preset confidence coefficient threshold value, judging whether a vehicle needs to change a lane or arrive at a road section with a real lane line within a preset time; if yes, an alarm signal is sent out; otherwise, calculating an error between the current position of the vehicle and the reference trajectory and a buffer area of the vehicle in the lane; and performing staged adjustment on the vehicle according to the error and the buffer area. According to the method, the transverse position of the vehicle is periodically adjusted according to the error between vehicle positioning and the track, the lane width, the vehicle body width and the reference track, so that the vehicle is gradually controlled to approach a buffer area or the track, and poor body feeling caused by excessive adjustment is avoided.
本申请提供了一种自动驾驶车辆控制方法、装置及电子设备、存储介质，涉及自动驾驶领域，目的是为了解决定位误差过大时，车辆在循迹模式下会出现大幅晃动的问题。上述方法包括：响应于定位误差超过预设的误差阈值，且定位置信度低于预设的置信度阈值，判断车辆是否需要在预设的时间内变道或达到有实车道线的路段；若是，则发出报警信号；否则，计算车辆的当前位置与参考轨迹之间的误差和车辆在车道内的缓冲区；以及根据误差和缓冲区对车辆进行阶段性调整。该方法根据车辆定位与轨迹之间的误差、车道宽度、车身宽度和参考轨迹对车辆横向位置进行阶段性调整，以便逐步控制车辆向缓冲区或轨迹靠拢，避免由于过度调整引起的体感不佳。
Dokumentinformationen
Automatic driving vehicle control method and device, electronic equipment and storage medium
自动驾驶车辆控制方法、装置及电子设备、存储介质
2024-04-05
Patent
Elektronische Ressource
Chinesisch
| IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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