在一个实施方式中,基于从全球定位系统(GPS)源接收的GPS数据,确定与自动驾驶车辆的一组后车轮相关的第一位置。基于从车载的惯性测量单元(IMU)接收的方向数据,确定自动驾驶车辆的移动方向。基于第一位置和自动驾驶车辆的移动方向,计算与自动驾驶车辆的一组前车轮相关的第二位置。基于作为自动驾驶车辆的当前位置的第二位置,规划路径的路径段。产生对于路径段的规划和控制数据。基于规划和控制数据控制并驱动所述自动驾驶车辆。

    In one embodiment, a first position associated with a set of rear wheels of an autonomous vehicle is determined based on global positioning system (GPS) data received from a GPS source. A moving direction of the autonomous vehicle is determined based on directional data received from an inertial measurement unit (IMU) onboard. A second position associated with a set of front wheels of the autonomous vehicle is calculated based on the first position and the moving direction of the autonomous vehicle. A route segment of a route is planned based on the second position as a current position of the autonomous vehicle. Planning and control data is generated for the route segment. The autonomous vehicle is controlled and driven based on the planning and control data.


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    Title :

    自动驾驶车辆的车辆位置点转发方法


    Publication date :

    2021-10-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen