The invention discloses a lane tracking method and system for an automatic driving vehicle. The yaw rate and the lateral acceleration are estimated by an inertia measurement unit according to measurement results of the inertia measurement unit and accord with a confidence level, and the current position data are pre-stored and estimated for a vehicle running on a lane at the current time point. Estimating and storing future position data of the vehicle at a future unit time point; estimating the total longitudinal displacement, the total lateral displacement and the total azimuth angle offsetof the vehicle from the historical time point to the future unit time point according to the pre-stored historical reference position data and the future position data estimated by the vehicle at thehistorical time point; and pre-storing reference lane line data generated according to the images of the lanes sensed at the historical time points and estimating future lane line data corresponding to the future unit time points by utilizing coordinate conversion, so that the updating frequency of the lane line data for lateral trajectory tracking can be improved.

    一种用于自动驾驶车辆的车道追踪方法及系统,处理单元根据惯性测量单元的测量结果所估算且符合信心水准的偏航率及侧向加速度、及预存且对于行驶于车道的车辆在当前时间点所估算的当前位置数据,估算并存储车辆在未来单位时间点的未来位置数据,然后根据已预存且车辆在历史时间点所估算的历史参考位置数据及未来位置数据所估算出车辆自历史时间点至未来单位时间点的总纵向位移量、总侧向位移量及总方位角偏移量,以及预存且根据在历史时间点所传感车道的影像而产生的参考车道线数据并利用坐标转换估算对应于未来单位时间点的未来车道线数据,借此可以提高用于侧向轨迹追踪的车道线数据更新频率。


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    Titel :

    Lane tracking method and system for automatic driving vehicle


    Weitere Titelangaben:

    用于自动驾驶车辆的车道追踪方法及系统


    Beteiligte:
    XU JINYAN (Autor:in) / YU JIANHONG (Autor:in) / GU KUNLONG (Autor:in) / ZHANG TONGKAI (Autor:in) / LIN HONGBANG (Autor:in)

    Erscheinungsdatum :

    2020-06-16


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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