The invention discloses a method and terminal for improving unmanned driving tracking precision. The method comprises the steps: firstly taking a vehicle body position as an original point, building a longitude and latitude two-dimensional coordinate system on a map, and determining a target track positioning point on a driving track of a vehicle; establishing a driving two-dimensional coordinate system by taking the same original point and the driving direction as a Y axis; then, according to the reference coordinates of the target track positioning point in the longitude and latitude two-dimensional coordinate system and the driving direction, performing calculation to obtain a steering deviation value between the direction of the vehicle facing the target track positioning point and the driving direction, and a tracking deviation value of the target track positioning point in the driving two-dimensional coordinate system; and finally, controlling the vehicle to steer according to the steering deviation value and the tracking deviation value, so that the vehicle is helped to finish tracking more accurately, the tracking precision of unmanned tracking control is improved, and the use reliability of the unmanned tracking control is improved.
本发明公开了一种提高无人驾驶循迹精度的方法及终端,先以车身位置为原点,在地图上建立了经纬二维坐标系,在车辆的行进轨迹上确认目标轨迹定位点;再以同样的原点,以行车方向为Y轴,建立起行车二维坐标系;然后根据目标轨迹定位点在经纬二维坐标系的参考坐标和行车方向计算得到车辆正对目标轨迹定位点的方向和行车方向之间的转向偏差值和目标轨迹定位点在行车二维坐标系上的循迹偏差值;最后根据转向偏差值和循迹偏差值来控制车辆进行转向,帮助车辆更加准确地完成循迹,提高无人驾驶的循迹控制的循迹精度,增加其使用的可靠性。
Method and terminal for improving unmanned driving tracking precision
一种提高无人驾驶循迹精度的方法及终端
2021-08-06
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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