The invention discloses an automatic driving vehicle longitudinal acceleration planning method, and the method comprises the following steps: based on road real-time information and vehicle surrounding target information, judging the working condition state of a vehicle in real time, wherein the working condition state comprises a cruise state, a vehicle following state, a curve driving state andthe trend that a vehicle on a side lane has a cut-in lane; planning target accelerations including cruise acceleration, vehicle following target acceleration, road curvature acceleration and threat target acceleration compensation under corresponding working condition states in real time in the vehicle driving process; establishing a relation model among the real-time planning acceleration, the cruise acceleration, the vehicle following acceleration, the road curvature acceleration and the threat target acceleration compensation; substituting the detected working condition state of the currentvehicle into the relation model, and calculating the real-time planning acceleration. The method can meet the requirement for processing complex working conditions, and meanwhile the platform adaptability and safety performance of the function are improved.
本发明公开一种自动驾驶车辆纵向加速度规划方法,步骤包括:基于道路实时信息和车辆周围目标信息,实时判定本车所处的工况状态,工况状态包括巡航状态、跟车状态、弯道行驶状态和旁边车道车辆有切入本车道趋势;在车辆行驶过程中实时规划出对应工况状态下的目标加速度:巡航加速度、跟车目标加速度、道路曲率加速度和威胁目标加速度补偿;建立实时规划加速度与巡航加速度、跟车加速度、道路曲率加速度和威胁目标加速度补偿之间的关系模型;将检测到的当前车辆所处的工况状态代入关系模型中,计算出实时规划加速度。该方法能够满足对复杂工况的处理,同时提升了功能的平台适应性和安全性能。
Automatic driving vehicle longitudinal acceleration planning method
一种自动驾驶车辆纵向加速度规划方法
2020-11-03
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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