本申请实施例公开了一种车辆自动驾驶方法、装置、设备及介质,该方法可应用于港口、高速、物流、矿山、机场、口岸、封闭园区、或城市交通等场景。该方法包括:通过在倒车前根据牵引车头的后轴中心点与倒车参数确定倒车所在参考路径的路径参考点,进而根据路径参考点与挂车车体的后轴中心点确定挂车沿参考路径车道线倒车的前轴转向角,即外环控制量。通过外环控制量和牵引车的实际航向角可确定牵引车沿车道线倒车时前轴转向角,即内环控制量。根据内环控制量可推算出挂车沿车道线倒车时牵引车头的期望轮转角。由此,通过期望轮转角对牵引车头的轮转角度进行调整使挂车沿参考路径的车道线倒车,降低挂车在倒车过程中不规则摆动的问题。
The embodiment of the invention discloses a vehicle automatic driving method, device and equipment and a medium. The method can be applied to scenes such as ports, expressways, logistics, mines, airports, ports, closed parks or urban traffic. The method comprises the steps that a path reference point of a reference path where reversing is located is determined according to a rear axle center point of a tractor head and reversing parameters before reversing, and then the front axle steering angle, namely the outer ring control quantity, of a trailer reversing along a reference path lane line is determined according to the path reference point and the rear axle center point of a trailer body. The front axle steering angle, namely the inner ring control quantity, when the tractor backs along the lane line can be determined through the outer ring control quantity and the actual course angle of the tractor. And according to the inner ring control quantity, the expected wheel turning angle of the tractor head when the trailer backs along the lane line can be calculated. Therefore, the wheel rotation angle of the tractor head is adjusted through the expected wheel rotation angle, so that the trailer backs up along the lane line of the reference path, and the problem that the trailer irregularly swings in the backing-up process is solved.
一种车辆自动驾驶方法、装置、设备及介质
2024-07-05
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 |