The invention discloses an automatic driving curve driving acceleration planning method, which comprises the following steps: acquiring lane line information of a target lane, a vehicle speed and a yaw rate of a vehicle, calculating a first curvature of a preview position of the target lane according to the lane line information of the target lane, and calculating a second curvature according to the vehicle speed and the yaw rate of the vehicle; planning the curve curvature of the curve target vehicle speed according to the first curvature and the second curvature; planning the curve target vehicle speed according to the planned curve curvature of the curve target vehicle speed and the allowable transverse acceleration during turning; if the difference between the curve target vehicle speed and the vehicle speed of the vehicle is larger than or equal to a curve speed reduction threshold value, setting the curve target acceleration to be a first preset value; if the difference between the curve target vehicle speed and the vehicle speed of the vehicle is smaller than a curve speed reduction threshold value and larger than or equal to a curve planning acceleration vehicle speed difference threshold value, setting the curve target acceleration ACSC to be equal to Coeff_CSC * Verror; and if the difference between the curve target vehicle speed and the vehicle speed of the vehicle is smaller than the curve planning acceleration vehicle speed difference threshold value, setting the curve target acceleration to be a second preset value.

    本发明公开一种自动驾驶弯道行驶加速度规划方法,步骤包括:获取目标车道的车道线信息,以及本车车速与偏航率,根据目标车道的车道线信息计算出目标车道预瞄位置的第一曲率,根据本车车速与偏航率计算出第二曲率;根据第一曲率和第二曲率规划出弯道目标车速的弯道曲率;根据规划出的弯道目标车速的弯道曲率与过弯时允许的横向加速度规划出弯道目标车速;若弯道目标车速与本车车速之差大于等于弯道降速阈值,则弯道目标加速度为第一预设值;若弯道目标车速与本车车速之差小于弯道降速阈值,大于等于弯道规划加速度车速差阈值,则弯道目标加速度ACSC=Coeff_CSC×Verror;若弯道目标车速与本车车速之差小于弯道规划加速度车速差阈值,则弯道目标加速度为第二预设值。


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    Title :

    Automatic driving curve driving acceleration planning method


    Additional title:

    一种自动驾驶弯道行驶加速度规划方法


    Contributors:
    LIU XIUPENG (author) / ZHU HUARONG (author) / ZHOU ZENGBI (author) / KONG ZHOUWEI (author)

    Publication date :

    2020-12-04


    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



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