The invention provides a method for predicting a path by using a Bezier curve through lane centering auxiliary function of an automatic driving system. The control method comprises the following steps: acquiring coordinates of N points within a preview distance in front of a vehicle on a lane; and calculating a Bezier 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 which is used for performing path prediction through a lane centering auxiliary function and moves forwardly and straightly according to the current state. The Bezier curve always passes through the starting point and the end point and is tangent to the starting point and the end point of the characteristic polygon, so thatthe starting point of the planned path is more suitable for the posture of the current vehicle, and the end point is more suitable for the track of the lane center line. Due to the convex hull property of the Bezier curve, the planned curve is smoother than a curve planned by an interpolation method, so that the control is 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Bezier曲线进行路径预测的方法,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Bezier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。本发明Bezier曲线始终通过始点和终点并与特征多边形相切与始点和终点,这使得规划的路径起点更贴合当前车辆的姿态,终点更贴合车道中心线的轨迹。Bezier曲线的凸包性使得规划出来的曲线比插值法规划的曲线更加顺滑,可以使得控制更平顺,增加舒适性。


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    Title :

    Method for predicting path by using Bezier curve through lane centering auxiliary function of automatic driving system


    Additional title:

    自动驾驶系统车道居中辅助功能使用Bezier曲线进行路径预测的方法


    Contributors:

    Publication date :

    2020-09-18


    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