The invention provides a method for controlling curve access with a lane centering auxiliary function of an automatic driving system. The method comprises the following steps: acquiring the lane curvature of a lane on which a vehicle runs, judging whether the absolute value of the lane curvature is continuously increased or decreased, and if the absolute value of the lane curvature is not continuously increased or decreased, ignoring the operation; if the absolute value of the lane curvature is continuously increased or decreased, calculating a vehicle lateral deviation value according to a formula I. The formula I is as follows: the vehicle lateral deviation value = K * lane curvature change rate * a cubed value of the preview distance/6, wherein K is a proportionality coefficient, pre-calibration is carried out according to different vehicles, the change rate of the lane curvature is derivation of the lane curvature relative to the preview distance, and the preview distance is a straight-line distance of forward driving of the vehicle predicted by a lane centering auxiliary function according to a planned path. According to the invention, the safety and comfort of automatic driving are improved.
本发明提供一种自动驾驶系统车道居中辅助功能进出弯道的控制方法,所述控制方法包括:获取车辆所行驶车道的车道曲率,判断所述车道曲率的绝对值是否持续增加或减少,如果所述车道曲率的绝对值没有持续增加或减少,则忽略;如果所述车道曲率的绝对值在持续增加或减少,则按公式一计算车辆横向偏移值;公式一:车辆横向偏移值=K*车道曲率的变化率*预瞄距离的立方/6,其中,K为比例系数,根据不同车辆预先标定,所述车道曲率的变化率为所述车道曲率相对于所述预瞄距离的求导,所述预瞄距离为车道居中辅助功能按规划的路径预测车辆向前行驶的直线距离。本发明提高了自动驾驶的安全性和舒适性。
Method for controlling curve access with lane centering auxiliary function of an automatic driving system
自动驾驶系统车道居中辅助功能进出弯道的控制方法
2020-09-18
Patent
Electronic Resource
Chinese
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 |
Long curve driving control method of lane centering auxiliary function of automatic driving system
European Patent Office | 2020
|European Patent Office | 2020
|European Patent Office | 2020
|European Patent Office | 2020
|Lane centering control system and lane centering keeping method based on driving style of driver
European Patent Office | 2024
|