A road-crossing driving control method for intelligent vehicles belongs to the technical field of unmanned driving. Firstly, a monocular camera is mounted on a rear-view mirror in an intelligent vehicle and used for collecting video images so as to perform the lane line detection, the stop line detection, the stop line distance measurement, the pedestrian detection and the traffic light identification. Afterwards, the lane virtual center line is calculated according to the lane line detection result, and the intelligent vehicle is controlled to run along the center line by means of a PD control algorithm. The distance from the stop line, the pedestrian detection result and the traffic light identification result are synthesized to make the driving decision so as to control the vehicle to move forwards or stop. By means of only one camera, the intelligent vehicle can stably and safely pass many road crossings; when a pedestrian is detected or a red traffic light is identified, the system controls the intelligent vehicle to stop within 20 cm away from the stop line; and when a green traffic light is identified and no pedestrian is detected, the system controls the intelligent vehicle to normally move or make a turn. The execution cycle is controlled within 50 ms, and thus the requirement that the driving control period is 100 ms is met.
Road-crossing driving control method for intelligent vehicles
2015-04-08
Patent
Electronic Resource
English
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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