The embodiment of the invention discloses an automatic vehicle driving method, device and system and a storage medium. The method comprises the steps: determining position coordinates, a speed and anattitude angle of a vehicle according to an obtained satellite positioning signal and an RTK differential signal; and processing an established driving track and state parameters reflecting the current running state of the vehicle of the vehicle according to a preset rule, and determining a virtual track, being a feasible path calibrated according to an urban traffic road, of the vehicle; adjusting the calibrated feasible path in combination with the state parameters of the vehicle to determine a more reasonable virtual track; and calculating a wheel set deflection angle and acceleration of the vehicle according to the deviation angle between the position coordinates of the vehicle and the virtual track and the speed and attitude angle of the vehicle so as to realize automatic driving ofthe vehicle. The satellite positioning technology is applied to automatic driving of the vehicle, the virtual path of the vehicle is determined according to the urban traffic road and the running state of the vehicle, so that automatic driving of the vehicle is achieved.
本发明实施例公开了一种车辆自动驾驶方法、装置、系统和存储介质,根据获取的卫星定位信号和RTK差分信号,确定出车辆的位置坐标、速度和姿态角;将建立的行驶轨迹和车辆的状态参数按照预设规则处理,确定出车辆的虚拟轨迹。行驶轨迹为根据城市交通道路标定出的可行路径,车辆的状态参数反映了车辆当前的运行状态。结合车辆的状态参数对标定出的可行路径进行调整,确定出更加合理化的虚拟轨迹。依据车辆的位置坐标与虚拟轨迹的偏离角度以及车辆的速度和姿态角,计算出车辆的轮对偏转角和加速度,实现车辆的自动驾驶。将卫星定位技术运用在车辆的自动驾驶上,并且根据城市交通道路以及车辆的运行状态确定出车辆的虚拟路径,实现了车辆的自动化驾驶。
Automatic vehicle driving method, device and system and storage medium
一种车辆自动驾驶方法、装置、系统和存储介质
12.05.2020
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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