The invention relates to an unmanned driving control method. The method comprises the steps of obtaining road condition information of an environment where a current vehicle is located; according to the road condition information, real-time driving planning is conducted on the current vehicle so that the redundant steering module or the redundant braking module can be controlled to operate; wherein the road condition information at least comprises an obstacle distance, and the obstacle distance is the distance between the current vehicle and an obstacle; the real-time driving planning specifically comprises the steps that if the distance between the obstacles is smaller than or equal to the preset distance, the steering driving body is selectively controlled to operate by means of the steering main channel and the steering secondary channel, so that the current vehicle is driven to steer to avoid the obstacles. Safety backup control is conducted through the steering main channel and the steering secondary channel in the redundant steering module, it is guaranteed that the steering driving body can stably receive the drive-by-wire steering signal sent by the intelligent controller and then execute the steering instruction, and therefore the current vehicle can avoid obstacles in time, and safety of long-distance transportation is guaranteed.
本申请涉及一种无人驾驶控制方法,包括:获取当前车辆所处环境的路况信息;根据路况信息,对当前车辆进行实时行驶规划,以控制冗余转向模块或冗余制动模块运行;其中,路况信息至少包括障碍物间距,障碍物间距为当前车辆与障碍物之间的距离;实时行驶规划具体包括:若障碍物间距小于或等于预设间距时,则择一地借助于转向主通道和转向次通道控制转向驱动主体运行,以驱动当前车辆转向而避开该障碍物。本申请通过冗余转向模块中的转向主通道和转向次通道进行安全备份控制,保证转向驱动主体能够稳定接收到智能控制器所发出的线控转角信号后执行转向指令,从而使得当前车辆能够及时避开障碍物,确保长途运输的安全性。
Vehicle and unmanned driving control method and system thereof
车辆及其无人驾驶控制方法和系统
2023-07-14
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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