The embodiment of the invention discloses an L2-level auxiliary driving method and system with an intersection passing function and a vehicle. According to the scheme, when an L2-level automatic driving vehicle cannot continue to run according to a lane line after passing through an entrance lane stop line of a target intersection area, the target intersection area is driven by the L2-level automatic driving vehicle; and controlling the L2-level automatic driving vehicle to continue driving by adopting an inertial navigation mode according to a pre-stored control instruction list. When the scheme is implemented, a visual sensor, high-precision positioning hardware or a high-performance computing platform and the like which are not generally configured for the L2-level automatic driving vehicle and have a larger sensing distance are not needed, and sensors such as a wheel type odometer, a vehicle speed sensor, an inertial sensor and the like which are generally provided for the L2-level automatic driving vehicle are adopted; and controlling the L2-level autonomous vehicle to drive in the target intersection area in an inertial navigation mode according to the control instruction list.
本说明书实施例公开了一种具有路口通行功能的L2级辅助驾驶方法、系统及车辆,该方案包括:在L2级自动驾驶车辆在驶过所述目标路口区域的进口道停止线之后无法根据车道线继续行驶时,根据事先存储的控制指令列表采用惯性导航的方式控制所述L2级自动驾驶车辆继续行驶。本方案实施时并不需要L2级自动驾驶车辆一般并未配置的感知距离更大的视觉传感器、高精定位硬件或者高性能计算平台等,采用L2级自动驾驶车辆一般都具备的轮式里程计、车速传感器、惯性传感器等传感器,根据控制指令列表控制所述L2级自动驾驶车辆采用惯性导航的方式在所述目标路口区域内行驶。
L2-level auxiliary driving method and system with intersection passing function and vehicle
一种具有路口通行功能的L2级辅助驾驶方法、系统及车辆
2023-05-12
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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