The invention provides a car following method. The car following method comprises the steps that the acceleration and deceleration state of a front car is judged; the acceleration and deceleration states comprise a constant speed state, an acceleration state and a deceleration state; when the acceleration and deceleration state is a constant speed state, conventional car following planning is executed; when the acceleration and deceleration state is an acceleration state, a conventional car following plan for increasing the acceleration of car following is executed; and when the acceleration and deceleration state is a deceleration state, executing the following stop planning, and then executing the re-planning mechanism. According to the vehicle following method provided by the invention, the acceleration and deceleration states of the front vehicle are estimated, and different track planning is performed on the front vehicle according to the acceleration and deceleration states of the front vehicle, so that the planning robustness is improved.
本发明提供了一种跟车方法,包括:判断前车的加减速状态;加减速状态包括匀速状态、加速状态和减速状态;当加减速状态为匀速状态时,执行常规跟车规划;当加减速状态为加速状态时,执行增加跟车的加速度的常规跟车规划;当加减速状态为减速状态时,执行跟停规划后,执行重规划机制。本发明提供的跟车方法通过对前车的加减速状态进行估计,并根据前车的加减速状态,对前车进行不同的轨迹规划,提高了规划的鲁棒性。
Vehicle following method, electronic equipment, vehicle and storage medium
跟车方法、电子设备、车辆及存储介质
2023-04-25
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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