The invention relates to the technical field of automatic driving application layer algorithms, in particular to a software architecture platform of an automatic driving vehicle, a control method, a vehicle and a medium, and the method comprises the steps: matching a preset driving algorithm or parking algorithm of the vehicle according to the running state information of the vehicle and a decision scene, predicting a target track by combining local environment information sensed by the vehicle and target information; according to the vehicle body information, the map, the positioning information and the predicted trajectory of the vehicle, a reference trajectory, a reference trajectory boundary, a reference speed and a reference speed boundary of driving or parking of the vehicle are decided; and according to the obtained reference value, the optimal track and the optimal speed of driving or parking are generated, the vehicle is controlled to execute preset driving or parking actions, and the preset driving function and the preset parking function of the vehicle are achieved. Therefore, the problems that the continuity of daily travel scene experience cannot be realized in related technologies, a driving software architecture and a parking software architecture cannot be shared, the software scheduling efficiency is low and the like are solved.

    本申请涉及自动驾驶应用层算法技术领域,特别涉及一种自动驾驶车辆的软件架构平台、控制方法、车辆及介质,其中,方法包括:根据车辆的运行状态信息和决策场景匹配车辆的预设行车算法或泊车算法,并基结合车辆感知的局部环境信息和目标信息对目标轨迹进行预测;根据车辆的车身信息、地图、定位信息和预测轨迹决策车辆的行车或泊车的参考轨迹、参考轨迹边界、参考速度以及参考速度边界;并根据得到的参考值生成行车或泊车的最优轨迹和最优速度,控制车辆执行预设行车或泊车动作,实现车辆的预设行车功能和预设泊车功能。由此,解决了相关技术无法实现日常出行场景体验的连续性,且行车和泊车软件架构不能共用,软件调度效率低等问题。


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    Title :

    Software architecture platform of autonomous vehicle, control method, vehicle and medium


    Additional title:

    自动驾驶车辆的软件架构平台、控制方法、车辆及介质


    Contributors:
    QIU LIHONG (author) / HE GANG (author) / YANG DONGFANG (author) / LI ZHEN (author) / QIAO RUIZHI (author)

    Publication date :

    2023-04-25


    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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