The invention discloses an automatic driving method and device, belongs to the technical field of automatic driving, and can be used for an intelligent automobile and an automatic driving automobile. The automatic driving method comprises the following steps: acquiring a motion state of an obstacle; determining the position and the speed of a traction point according to the motion state of the obstacle, wherein the position and the speed of the traction point are continuous functions of the motion state of the obstacle; and acquiring the expected acceleration of the vehicle according to the position and the speed of the traction point. According to the method, the vehicle speed jump during automatic driving can be reduced, and the riding experience of a user is improved.
本申请公开了一种自动驾驶方法及装置,属于自动驾驶技术领域,可以用于智能汽车、自动驾驶汽车。该自动驾驶方法包括:获取障碍物的运动状态;根据障碍物的运动状态确定牵引点的位置和牵引点的速度,牵引点的位置和牵引点的速度均为障碍物的运动状态的连续函数;根据牵引点的位置和牵引点的速度获取自车的期望加速度。本申请的方法能够减少自动驾驶时的车辆速度跳变,提高用户的乘车体验。
Automatic driving method and device
自动驾驶方法及装置
2022-03-11
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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