An automated driver assistance system and method for traction predicts vehicle/trailer instability and adjusts automated driving control to avoid instability. The traction vehicle includes a controller that controls speed and/or steering via an actuator system. A map system and/or sensor system monitors a road on which the vehicle is traveling to identify a road profile located in front of the vehicle over a predicted range. A planned trajectory for navigating the vehicle through the road contour is determined over the predicted range and taking into account the environmental conditions. Prior to traveling over the road profile, it is determined whether a planned trajectory through the road profile will result in exceeding a vehicle dynamics threshold. A control action is determined to prevent instability and optimize driver experience when the planned trajectory would cause passage of the road profile to exceed a vehicle dynamic threshold. The vehicle is operated through the road profile using the control action.
用于牵引的自动驾驶员辅助系统和方法预测车辆/拖车不稳定性,并调整自动驾驶控制以避免不稳定性。牵引车辆包括通过执行机构系统控制速度和/或转向的控制器。地图系统和/或传感器系统监测车辆正在其上行驶的道路,以在预测范围上识别位于车辆前方的道路轮廓。在预测范围上并在考虑环境条件的情况下确定用于使车辆导航通过道路轮廓的规划轨迹。在道路轮廓之上行驶之前,确定通过道路轮廓的规划轨迹是否将导致超过车辆动态阈值。当规划轨迹将导致通过道路轮廓会超过车辆动态阈值时,确定控制动作以防止不稳定性并优化驾驶员体验。使用控制动作操作车辆通过道路轮廓。
Traction vehicle driving method and system for automatic driving
用于自动驾驶的牵引车辆驾驶方法和系统
2024-03-08
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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