The invention provides a method for determining a preview point of an automatic driving automobile. The method comprises the following steps: acquiring information of an ideal tracking path of the automobile and current state information of the automobile; determining a preview distance according to the current speed information of the vehicle and the preview time; taking the coordinate of the current position of the vehicle as a reference, and determining a point closest to the vehicle position in the ideal path as a search starting point; determining an interval where the preview point is located; determining whether the current driving road of the vehicle is a straight road or a curve; and determining the preview point. The method is carried out in a geodetic coordinate system, the calculation mode is simple, the calculated amount is small, and effective support can be provided for selection of preview points; according to the method, the turning driving distance of the vehicle is fully reserved, and a good tracking effect on the curve track of the vehicle is achieved; the preview point determined by the method provided by the invention is reliable in result, the accuracy of theintelligent driving path tracking module can be improved, and the driving stability of the vehicle on a straight road and a curve is ensured; the calculation amount of the algorithm is greatly reduced, and the algorithm efficiency is improved.
本发明提供了一种自动驾驶汽车预瞄点确定方法,包括获取车辆理想跟踪路径的信息及车辆当前状态信息;根据车辆当前速度信息及预瞄时间确定预瞄距离;以车当前位置的坐标为基准,将理想路径上距离车位置最近的点确定为搜索起始点;确定预瞄点所在区间;确定车辆当前行驶道路是直线道路还是弯道;确定预瞄点。本发明在大地坐标系下进行,计算方式简单,计算量小,能够为预瞄点的选取提供有效支撑;本发明充分预留车辆转弯行驶距离,对于车辆弯道轨迹有较好的跟踪效果;通过本发明的方法所确定的预瞄点,结果可靠,能够提升智能驾驶路径跟踪模块的精确性,保证车辆在直线道路和弯道行驶的平稳性;本发明大幅减少算法的计算量,提高算法效率。
Method, device and equipment for determining preview point of automatic driving vehicle and storage medium
自动驾驶汽车预瞄点确定方法、装置、设备及存储介质
2020-10-23
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 |
Automatic driving method and device of automatic driving vehicle, equipment and storage medium
European Patent Office | 2020
|Vehicle preview point determination method and device, electronic equipment and medium
European Patent Office | 2023
|Automatic driving method, device and equipment, storage medium and vehicle
European Patent Office | 2021
|Automatic driving method of automatic driving vehicle, electronic equipment and storage medium
European Patent Office | 2024
|Vehicle control method, device and equipment, automatic driving vehicle and storage medium
European Patent Office | 2022
|