本申请实施例所公开的一种自动驾驶模式下的停车控制方法、系统、电子设备及车辆,包括获取每个感知系统对应的工作状态、当前车速和减速阈值,若每个感知系统均正常,基于多个感知系统获取待变道车道数据,根据预设变道条件、当前车速和待变道车道数据确定目标车道,且变道至目标车道,获取目标车道对应的停车缓冲速度区间,根据当前车速、减速阈值和停车缓冲速度区间确定第一减速度,以调整车辆在目标车道内的行驶速度,车辆在目标车道内的行驶速度在停车缓冲速度区间内,当车辆在目标车道内的行驶时间达到预设时间时,基于预设第二减速度和减速阈值调整车辆在目标车道内的行驶速度,直至停车。如此,可以控制车辆安全停车,且警示后方车辆。
The embodiment of the invention discloses a parking control method and system in an automatic driving mode, electronic equipment and a vehicle. The method comprises the following steps: obtaining a working state, a current vehicle speed and a deceleration threshold value corresponding to each sensing system, obtaining to-be-changed lane data based on a plurality of sensing systems if each sensingsystem is normal, determining a target lane according to a preset lane changing condition, the current vehicle speed and the to-be-changed lane data, changing the lane to the target lane, obtaining aparking buffer speed interval corresponding to the target lane, and determining a first deceleration according to the current vehicle speed, the deceleration threshold value and the parking buffer speed interval so as to adjust the driving speed of the vehicle in the target lane, and when the driving speed of the vehicle in the target lane is within the parking buffer speed interval and the driving time of the vehicle in the target lane reaches a preset time, adjusting the driving speed of the vehicle in the target lane based on a preset second deceleration and a deceleration threshold until the vehicle is parked. In this way, the vehicle can be controlled to park safely, and vehicles behind are warned.
一种自动驾驶模式下的停车控制方法、系统、电子设备及车辆
2022-06-14
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |