The invention relates to a transverse control method and device for an automatic driving vehicle and a storage medium. The method comprises the steps: acquiring lane line data of the current positionof the vehicle through vehicle-mounted detection equipment; acquiring a historical driving track of a vehicle in front of the vehicle through inter-vehicle communication or the vehicle-mounted detection equipment; detecting vehicles on the two sides of the vehicle through the vehicle-mounted detection equipment to obtain vehicle body detection points; fitting the vehicle body detection points to obtain a traffic flow boundary line; performing calculating to obtain a drivable area of the vehicle according to the lane line data, the historical driving track of the front vehicle and/or at least one traffic flow boundary line; determining a target driving track of the vehicle according to the drivable area; and controlling the transverse movement of the vehicle according to the target drivingtrack. According to the invention, the automatic driving function is applied to more scenes, and the safety in the driving process is improved at the same time.
本发明涉及一种自动驾驶车辆的横向控制方法、装置及存储介质,所述方法包括:通过车载探测设备获取自车当前位置的车道线数据;通过车间通信或车载探测设备获取自车前方车辆的历史行驶轨迹;通过车载探测设备对自车两侧的车辆进行探测,获取车身探测点;将所述车身探测点进行拟合,得到车流边界线;根据车道线数据、前方车辆的历史行驶轨迹和/或至少一条车流边界线计算得到自车的可行驶区域;根据可行驶区域确定自车的目标行驶轨迹;根据目标行驶轨迹控制自车的横向运动。本发明使得自动驾驶功用于更多的场景,同时提高了驾驶过程中的安全性。
Transverse control method and device for automatic driving vehicle and storage medium
一种自动驾驶车辆的横向控制方法、装置及存储介质
2020-11-10
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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