The invention provides a transverse control method for a straight-going vehicle at an intersection, which can improve the accuracy of transverse control when the straight-going vehicle passes through the central area of the intersection on the basis of lower cost. A more accurate vehicle driving reference trajectory is obtained by fusing the lane center line trajectory, the own vehicle movement trajectory and the front vehicle movement trajectory, and the probability of occurrence of abnormal conditions of straight driving of the driving assistance system at the intersection is reduced. Meanwhile, the invention further discloses a transverse control structure for the vehicles going straight at the intersection.
本发明提供一种交叉路口直行的车辆横向控制方法,其可以基于较低成本提高直行车辆经过交叉路口中心区域时的横向控制的精准度。其通过融合车道中心线轨迹、自车运动轨迹和前车运动轨迹,得到了更准确的车辆行驶参考轨迹,降低了驾驶辅助系统在交叉路口直行的异常情况发生概率。同时,本申请还公开了一种交叉路口直行的车辆横向控制结构。
Transverse control method and structure for vehicles going straight at intersection
一种交叉路口直行的车辆横向控制方法及结构
2024-05-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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