The invention discloses an automatic driving track control method and related equipment. The method comprises the following steps: acquiring a target trajectory curvature control curve based on a target trajectory; an initial curvature control curve is determined according to the maximum curvature value, the initial point curvature, the end point curvature and a preset curvature threshold value of the target track curvature control curve, and the initial curvature control curve is a curvature control curve formed by distributing a fixed curvature curve and a linear change curvature curve at intervals; performing iterative calculation based on the initial curvature control curve to obtain a driving curvature control curve meeting a preset error; and controlling the vehicle to run according to the running curvature control curve. According to the method, the target trajectory can be effectively fitted, the stability of the direction in the vehicle running process can be guaranteed, the trajectory curve has high fitting precision, meanwhile, the calculated amount is low, and the response speed is high.

    本发明公开了一种自动驾驶轨迹控制方法及相关设备。该方法包括:基于目标轨迹获取目标轨迹曲率控制曲线;根据上述目标轨迹曲率控制曲线的曲率最大值、起始点曲率、终点曲率和预设曲率阈值确定初始曲率控制曲线,其中,上述初始曲率控制曲线为固定曲率曲线和线性变化曲率曲线间隔分布的曲率控制曲线;基于上述初始曲率控制曲线进行迭代计算以获取满足预设误差的行驶曲率控制曲线;根据上述行驶曲率控制曲线控制车辆行驶。该方法可以有效的对目标轨迹进行拟合,可以保证车辆行驶中方向的平稳,对于轨迹曲线有较高拟合精度,同时计算量较低,响应速度快。


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    Title :

    Automatic driving track control method and related equipment


    Additional title:

    一种自动驾驶轨迹控制方法及相关设备


    Contributors:
    WANG HONGFENG (author) / LIANG DUANZHANG (author) / YANG WENLI (author) / YAN HAN (author)

    Publication date :

    2023-01-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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