The embodiment of the invention provides a motor vehicle automatic driving control method and device and a computer readable storage medium, and the method comprises the steps: in response to a starting instruction sent by external instruction equipment, controlling a motor vehicle to drive according to a planned driving path; in the running process of the motor vehicle, controlling a vehicle-mounted camera device to collect and provide real-time video images of the surrounding environment of the motor vehicle in real time; sequentially matching actual reference object images which are the same as the template-based reference object images in the real-time video images, performing real-time positioning on the motor vehicle according to the matching result and the world coordinates, and the template reference object images are obtained by shooting all preset reference objects around the motor vehicle through a vehicle-mounted camera device during pre-training; the world coordinates are constructed by the motor vehicle according to the real-time wheel speed pulse of the motor vehicle during pre-training; correcting and updating a planned driving path according to real-time positioning; and controlling the motor vehicle to drive to a preset terminal point according to the latest planned driving path. According to the method, the hardware cost can be effectively reduced.

    本发明实施例提供一种机动车自动行驶控制方法、装置及计算机可读存储介质,所述方法包括:响应外部指令设备发来的启动指令,控制机动车按照规划行驶路径行驶;在机动车行驶过程中,控制车载摄像装置实时采集和提供机动车周围环境的实时视频影像;在实时视频影像中依次匹配与基于模板参照物图像相同的实际参照物图像,根据匹配结果并基于世界坐标对机动车进行实时定位,模板参照物图像为预先训练时由车载摄像装置拍摄机动车周围的各个预定参照物获得,世界坐标为预先训练时机动车根据机动车的实时轮速脉冲构建获得;根据实时定位修正和更新规划行驶路径;控制机动车根据最新的规划行驶路径行驶至预设终点。本实施例能有效降低硬件成本。


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    Titel :

    Motor vehicle automatic driving control method and device and computer readable storage medium


    Weitere Titelangaben:

    机动车自动行驶控制方法、装置及计算机可读存储介质


    Beteiligte:
    LUO XIAOPING (Autor:in) / CAI JUN (Autor:in)

    Erscheinungsdatum :

    2021-11-26


    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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