The invention provides an integrated control method and system for lane keeping and lane changing of an automatic driving automobile, and the control method and system can generate a motion track reference point from a sensed traffic environment, thereby reducing a gap between an environment sensing system and a control system in an automatic driving system. The control method and system simultaneously have lane keeping and lane changing automatic control functions, can seamlessly solve the problem of lane keeping and lane changing control, do not need to be switched from one lane keeping control method and system to one lane changing control method and system, obviously increase the function integration level of the control system, and improve the control efficiency. The complex scene strain capacity of the control system is improved, the automatic driving automobile control system is simplified, the design difficulty of the control system is reduced, and the development speed of automatic driving automobile engineering is increased; the control method and system provided by the invention are simpler, more flexible and stronger in function, and can process driving behaviors of lane keeping and lane changing in different driving scenes.

    本发明提供了一种自动驾驶汽车车道保持和换道的集成控制方法及系统,该控制方法及系统可以从感知的交通环境中生成运动轨迹参考点,减少了自动驾驶系统中环境感知系统与控制系统之间的间隙,该控制方法及系统同时具备车道保持与换道自动控制功能,可以无缝地解决车道保持与换道控制问题,无需从一种车道保持控制方法及系统切换到一种换道控制方法及系统,明显增加控制系统功能集成度,提升控制系统的复杂场景应变能力,简化了自动驾驶汽车控制系统,降低控制系统设计难度,加快自动驾驶汽车工程的开发速度;本发明所提供的控制方法及系统更简洁、更灵活、功能更强,可以处理不同驾驶场景下的车道保持与换道的驾驶行为。


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    Titel :

    Integrated control method and system for lane keeping and lane changing of self-driving automobile


    Weitere Titelangaben:

    一种自动驾驶汽车车道保持和换道的集成控制方法及系统


    Beteiligte:
    LIU WEI (Autor:in) / ZHANG XUEQUAN (Autor:in)

    Erscheinungsdatum :

    2022-07-15


    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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