The invention discloses a method and system for planning a driving track of a vehicle passing through an intersection, and the method comprises the steps: obtaining the curvature of a lane line before the vehicle passes through the intersection, simulating and generating a guide track for passing through the intersection according to the curvature of the lane line if the curvature of the lane line is smaller than or equal to a preset curvature, and correspondingly adjusting and controlling the steering angle of a steering wheel of the vehicle; if the opposite lane line is recognized, selecting the lane with the minimum transverse turning angle of the steering wheel as the target lane to continue driving; if the opposite lane line is not recognized and the guide vehicle is detected in front, acquiring a driving track corner of the guide vehicle; and controlling the vehicle to follow the driving track of the guide vehicle to drive until the opposite lane line is recognized or prompting a driver to take over the vehicle according to the interval range to which the driving track corner belongs. The use continuity of the intelligent driving assistance system on a road with many intersections is effectively guaranteed, the reporting and taking-over rate when the intelligent driving assistance system passes through the intersections is effectively reduced, the safety of passing through the intersections is improved, and the driving experience of a driver is improved.
本申请公开了一种通过路口时车辆行驶轨迹的规划方法及系统,所述方法包括:获取车辆通过路口前的车道线曲率,如果车道线曲率小于或等于预设曲率,按照车道线曲率模拟并生成通过路口的引导轨迹,对应调整控制车辆的方向盘转角;如果识别到对向车道线,选择方向盘横向转角最小的车道作为目标车道继续行驶;如果未识别到对向车道线且检测到前方有引导车,获取引导车的行驶轨迹转角;根据行驶轨迹转角所属的区间范围,控制车辆跟随引导车的行驶轨迹行驶至识别到对向车道线或者提示驾驶员接管车辆。本申请有效保障智能驾驶辅助系统在路口较多的道路上使用的连续性,有效降低通过路口时的报接管率,提高通过路口的安全性,提高驾驶员的驾驶体验。
Method and system for planning driving track of vehicle passing through intersection
一种通过路口时车辆行驶轨迹的规划方法及系统
2023-09-12
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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