The invention provides an automatic driving vehicle-oriented safety planning system and a safety planning method thereof, and the method comprises the steps: carrying out the calculation of vehicle related information obtained based on a plurality of sensor signals, and obtaining a dynamics safety boundary signal; generating a track signal and a wheel speed signal according to the dynamic safety boundary signal and a planning decision signal obtained based on the dynamic safety boundary signal; resolving the plurality of sensor signals and the whole vehicle dynamics control signal to obtain a vehicle estimation and prediction signal; and performing cooperative control based on the track signal, the wheel speed signal and the vehicle estimation and prediction signal to generate a motion control signal, and performing distribution calculation on the vehicle estimation and prediction signal and the motion control signal to obtain a control signal corresponding to a vehicle related system. According to the method, the safety performance of the automatic driving domain controller is improved by fully utilizing the sensing and decision-making capability of the automatic driving part.
本发明提出面向自动驾驶车辆的安全规划系统及其安全规划方法,其中,该方法包括:对基于多个传感器信号得到的车辆相关信息进行计算得到动力学安全边界信号;根据动力学安全边界信号和基于动力学安全边界信号得到的规划决策信号生成轨迹信号和轮速信号;对多个传感器信号和整车动力学控制信号进行解算得到车辆估计与预测信号;基于轨迹信号和轮速信号以及车辆估计与预测信号进行协同控制以生成运动控制信号,并对车辆估计与预测信号和运动控制信号进行分配计算以得到车辆相关系统对应的控制信号。本发明充分利用自动驾驶部分感知和决策能力提升自动驾驶域控制器安全性能。
Safety planning system for autonomous vehicle and safety planning method thereof
面向自动驾驶车辆的安全规划系统及其安全规划方法
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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