The invention relates to lateral acceleration control for autonomous driving. A method of determining a target lateral acceleration of a vehicle for autonomously controlling the vehicle to travel along a road, the method comprising the steps of: evaluating (S41) each of a plurality of scalar speed functions at a plurality of critical lateral positions predefined with respect to a model of the road, to generate a respective set of scalar speed values; combining (S42) the velocity values calculated for each of the key lateral positions to generate a corresponding target lateral velocity value, the velocity values calculated for each of the key lateral positions being combined by adding the maximum of zero and velocity values to the minimum of zero and velocity values; generating (S43) a lateral velocity field by interpolating between the target lateral velocity values; and determining (S44) a target lateral acceleration of the vehicle using the lateral velocity field and the measured lateral velocity of the vehicle.
本公开涉及用于自主驾驶的横向加速度控制。确定车辆的目标横向加速度的方法用于自主控制车辆沿着道路行驶,该方法包括以下步骤:在关于道路的模型预定义的多个关键横向位置处评估(S41)多个标量速度函数中的各个标量速度函数,以生成相应的标量速度值的集合;组合(S42)针对各个关键横向位置计算的速度值以生成相应的目标横向速度值,针对关键横向位置中的各个关键横向位置计算的速度值通过将零和速度值中的最大者与零和速度值中的最小者相加而组合;通过在目标横向速度值之间进行内插来生成(S43)横向速度场;以及使用横向速度场和所测量的车辆的横向速度来确定(S44)车辆的目标横向加速度。
Lateral acceleration control for autonomous driving
用于自主驾驶的横向加速度控制
2022-08-16
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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