The invention relates to a self-adaptive cruise planning method and system for curve driving, and the method comprises the steps: 1, carrying out the real-time recognition of a lane line through a foresight camera, and executing a step 2 when the lane line is successfully recognized; 2, respectively calculating the curvature CZ of the lane line at the current position of the vehicle and the curvature CZ'of the lane line at the front preset preview distance position based on the identified equation of the lane lines, and judging the position working condition of the vehicle in the curve according to the values of the curvature CZ and the curvature CZ '; 3, the maximum vehicle speed V of the target vehicle speed VTarget is determined according to the position working condition of the vehicle in the curve and the radius of the curve; the position of the current curve is judged after the lane line is recognized, the speed of the vehicle is reasonably reduced according to different positions, and safe turning and safe driving of the vehicle can be guaranteed under the condition that no high-precision map coverage exists.
本发明涉及一种弯道行驶的自适应巡航规划方法及系统,该自适应巡航规划方法包括:步骤1,通过前视摄像头对车道线进行实时识别,成功识别到车道线时执行步骤2;步骤2,基于识别到的车道线的方程分别计算车辆当前位置的车道线的曲率C_Z以及前方设定预瞄距离位置的车道线的曲率C_Z',根据曲率C_Z和曲率C_Z'的值判断车辆在弯道内的位置工况;步骤3,根据车辆在弯道内的位置工况和弯道半径确定目标车速V_Target的最大车速V;通过对车道线进行识别后判断当前所处弯道的位置,并根据不同位置合理的降低本车车速,在没有高精地图覆盖的情况,也能保证车辆安全的过弯及安全行驶。
Self-adaptive cruise planning method and system for curve driving
一种弯道行驶的自适应巡航规划方法及系统
2022-07-08
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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