The invention discloses an overtaking control method and system for an unmanned vehicle. The method comprises the steps of S1 collecting a front road image, and obtaining a front vehicle tail image located at the same lane as the unmanned vehicle from the front road image; S2 acquiring road information according to the front road image; acquiring front vehicle information according to the front vehicle tail image; obtaining vehicle distance information of the front vehicle and the unmanned vehicle and the driving state information of the front vehicle; S3 according to the road information in the step S2, in combination with vehicle navigation data, detecting whether the current road section is an overtaking road section or not; S4 according to the judgment in the step S3, when the currentroad section is an overtaking road section, carrying out overtaking calculation, and calculating the speed and the running track of the overtaking process; and S5 executing an overtaking process, andin the overtaking process, periodically executing the steps S2 to S4, and determining that the overtaking process is continued or stopped.
本发明公开了一种用于无人驾驶车辆的超车控制方法和系统,所述方法包括以下步骤:步骤S1:采集前方道路图像,并从所述前方道路图像获取与所述无人驾驶车辆处于同一车道的前车车尾图像;步骤S2:根据前方道路图像获取道路信息;根据前车车尾图像,获得前车车辆信息;获得前车与所述无人驾驶车辆的车距信息和前车的行驶状态信息;步骤S3:根据步骤S2中的道路信息结合车辆导航数据,检测当前路段是否为可超车路段;步骤S4:根据步骤S3的判断,在当前路段为可超车路段时,进行超车计算,计算超车过程的速度和行驶轨迹;步骤S5,执行超车过程,并在超车过程中,周期性地执行步骤S2‑步骤S4,确定继续或终止超车过程。
Overtaking control method and system for unmanned vehicle
一种用于无人驾驶车辆的超车控制方法和系统
2020-11-13
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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