The invention provides a method for predicting a path by using a B-spline curve through a lane centering auxiliary function of an automatic driving system. The method is characterized by comprising the following steps: acquiring coordinates of N points within a preview distance in front of a vehicle on a lane; and calculating a B spline curve according to the coordinates of the N points to serve as a predicted path. The preview distance is the longitudinal distance of the assumed vehicle for path prediction with a lane centering auxiliary function according to the current state, and N is a positive integer. Due to the strong convex hull property of the B spline curve, the planned path curve can be smoother than an interpolation method, the control can be smoother, and the comfort is improved.
本发明提供一种自动驾驶系统车道居中辅助功能使用B样条曲线进行路径预测的方法,其特征在于,所述控制方法包括:获取车道上车辆前方预瞄距离内N个点的坐标,根据所述N个点的坐标求解B样条曲线作为预测的路径,其中,所述预瞄距离为车道居中辅助功能用于进行路径预测的假定车辆按当前状态向前直线行驶的纵向距离,所述N为正整数。本发明B样条曲线的强凸包性可以使得规划出来的路径曲线比插值法更加顺滑,可以控制的更平顺,增加舒适性。
Method for predicting path by using B-spline curve through lane centering auxiliary function of automatic driving system
自动驾驶系统车道居中辅助功能使用B样条曲线进行路径预测的方法
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 |
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