The invention provides a lane line-free road automatic driving transverse control method, which comprises the following steps of: obtaining pose information of a vehicle at a certain moment when the vehicle has a lane line and automatically drives according to the lane line according to historical lane line data after disappearance of the lane line is identified; according to the pose at the certain moment, determining a pose which should be kept by the vehicle at present through a track plotting algorithm; and controlling the vehicle transversely according to the pose needing to be kept at present so that the vehicle can be driven in the pose needing to be kept. According to the invention, automatic driving can be carried out on an expected driving route.
本发明提供一种无车道线道路自动驾驶横向控制方法,所述方法包括:在识别到车道线消失后,根据历史车道线数据得到车辆在具有车道线并依据车道线自动驾驶时的某一时刻的位姿信息;根据所述某一时刻的位姿并通过航迹推算算法确定车辆当前应当保持的姿态;根据当前应当保持的位姿对车辆进行横向控制以使所述车辆保持应当保持的姿态驾驶。本发明能够在更为符合预期驾驶路线上自动行驶。
Vehicle transverse control method, vehicle and computer readable storage medium
车辆横向控制方法、车辆以及计算机可读存储介质
2021-01-22
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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