The invention discloses a transverse track planning system and method for automatic driving offset. The system comprises an automatic driving transverse control state module, an environment cognitionmodule, a vehicle speed module, a trigger offset module, a final offset transition time module, an offset track planning module, a road center line coefficient module, a transverse control final trackcalculation module and a transverse control execution module. An offset track coefficient is fitted in a curve fitting mode, the offset track coefficient is superposed on a center line coefficient ofa road, a re-planned track is executed, and offset and timely response can be realized.
本发明公开的自动驾驶偏移的横向轨迹规划系统及方法,系统包括自动驾驶横向控制状态模块、环境认知模块、本车车速模块、触发偏移模块、最终的偏移过渡时间模块、偏移轨迹规划模块、道路中心线系数模块、横向控制最终轨迹计算模块和横向控制执行模块;通过曲线拟合方式拟合偏移轨迹系数,在道路的中心线系数上叠加偏移轨迹系数,执行重新规划的轨迹,能够实现偏移及时响应。
Transverse track planning system and method for automatic driving offset
自动驾驶偏移的横向轨迹规划系统及方法
2021-03-16
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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