The invention provides a local path planning state switching method based on automatic driving. The local path planning state switching method comprises the following steps that S1, a decision-makingvehicle normally drives along a lane where the decision-making vehicle is located in an automatic driving state; S2, a sensing system of the decision-making vehicle senses the surrounding environmentand surrounding road information in real time; S3, the vehicle-mounted computing unit judges whether path planning state switching is carried out according to the input information of the decision-making vehicle sensing system; S4, when the path planning state does not need to be switched, the decision-making vehicle is automatically driven to keep normal driving; S5, the automatic driving systemis interrupted by switching to a manual takeover mode; S6, the decision-making vehicle carries out local path planning state switching; S7, the decision-making vehicle monitors whether to arrive at the destination or not through the sensing system, and driving is ended when the destination is arrived; and S8, if the destination is not reached, the step S2 is repeatedly executed. According to the local path planning state switching method based on automatic driving, the problem that a local path planning method is difficult to adapt to complex and large-calculated-amount automobile automatic driving local path planning is solved.
本发明提供了一种基于自动驾驶局部路径规划状态切换方法包括以下步骤:S1:决策车在自动驾驶状态下,沿所在车道正常行驶;S2:决策车的感知系统实时感知周围环境以及周边道路信息;S3:车载计算单元根据决策车感知系统的输入信息,判断是否进行路径规划状态切换;S4:当不需要进行路径规划状态切换时,决策车自动驾驶在保持正常行驶;S5:通过切换至人工接管模式中断自动驾驶系统;S6:决策车进行局部路径规划状态切换;S7:决策车通过感知系统对是否到达目的地进行监测,到达目的地结束行驶;S8:没有到达目的地,重复执行步骤S2。本发明所述的一种基于自动驾驶局部路径规划状态切换方法以解决局部路径规划方法难以适合复杂、计算量大的汽车自动驾驶局部路径规划的问题。
Local path planning state switching method based on automatic driving
一种基于自动驾驶局部路径规划状态切换方法
2021-04-02
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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