The invention belongs to the technical field of automatic driving, and particularly discloses an automatic driving vehicle drawing dragon judgment control method, which comprises the following steps of: acquiring data in vehicle driving in real time, and calculating a deviation angle between a vehicle course and a key point course of an automatic driving path; s2, according to the deviation angle, judging whether the vehicle draws dragon or not, if not, returning to S1, and if yes, performing S3; according to the transverse deviation between the vehicle and the key point, the dragon is graded, an alarm is given, and the speed of the vehicle is controlled based on the grading result; after the dragon disappears, the vehicle is indicated to continue to run or stop according to the grading result, and the method has the following advantages that whether the dragon is drawn on the automatic driving vehicle or not can be quickly and accurately recognized; further combining the actual lateral deviation of the vehicle to distinguish the dragon grade; according to different painton grades, different safety speed-limiting and parking-limiting strategies are made in longitudinal control, and the risk that a mining vehicle collides with a retaining wall or deviates to another lane is reduced.

    本发明属于自动驾驶技术领域,具体公开了一种自动驾驶车辆画龙判断控制方法,包括:实时获取所述车辆行驶中的数据,计算车辆航向与自动驾驶路径的关键点航向的偏差角;根据所述偏差角判断车辆是否发生画龙,若否则返回S1,若是则进行S3;根据所述车辆与关键点的横向偏差对所述画龙进行分级并报警,基于分级的结果对所述车辆的速度进行控制;在画龙消失后,根据分级的结果指示车辆继续行驶或停车,具有以下优点:能够快速准确的识别出自动驾驶车辆是否画龙;进一步结合车辆实际横向偏差,区分画龙等级;根据不同的画龙等级,在纵向控制中做出不同的安全限速限停策略,减少矿用车辆冲撞挡墙或偏向另一车道的风险。


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    Title :

    Drawing dragon judgment control method for automatic driving vehicle


    Additional title:

    一种自动驾驶车辆画龙判断控制方法


    Contributors:
    CHEN JIANGSONG (author) / XIA QI (author) / WANG WENFEI (author) / WU HAIJIE (author) / HU RUI (author)

    Publication date :

    2023-06-30


    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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