The invention relates to a vehicle-road cloud cooperative automatic driving path planning and execution method based on road end master control, which comprises the following steps: S1, determining local path planning: S1.1, carrying out scheduling control on each automatic driving vehicle by a cloud end according to a logistics scheduling demand, and giving an overall path planning and driving control instruction of each automatic driving vehicle; s1.2, the cloud sends the overall path plan to each related edge calculation center, and distributes the real-time control right of the automatic driving vehicle to the corresponding edge calculation center; s2, executing local path planning; S2.1, sending the local path planning and a driving control instruction to the vehicle terminal by the edge calculation center; s2.2, the vehicle terminal executes the driving control instruction; s2.3, the vehicle terminal collects road information and judges whether the road has a qualified lane line or not; according to the method, the original function of the L2 level can be kept, the automatic driving function of the level L4 or above can be achieved under the cooperation of the road cloud, the vehicle automatic driving function does not need to be newly developed, the function maturity is high, stability is good, and compatibility is high.

    路端主控的车路云协同自动驾驶路径规划与执行方法,包括S1、确定局部路径规划:S1.1、云端根据物流调度需求对每辆自动驾驶车辆进行调度控制,给出每个自动驾驶车辆的总体路径规划和行驶控制指令;S1.2、云端将总体路径规划发送至相关的各个边缘计算中心,并分配自动驾驶车辆实时控制权至对应的边缘计算中心;S2、执行局部路径规划:S2.1、边缘计算中心将局部路径规划和行驶控制指令发送至车辆终端;S2.2、车辆终端执行行驶控制指令;S2.3、车辆终端采集道路信息,并判断道路是否有合格车道线;本发明保持L2级别原有功能即可在路云的协同下实现L4以上高级别的自动驾驶功能,车辆自动驾驶功能无需全新开发,功能成熟度高、稳定性好、兼容性强。


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    Title :

    Vehicle-road cloud collaborative automatic driving path planning and executing method of road end master control


    Additional title:

    路端主控的车路云协同自动驾驶路径规划与执行方法


    Contributors:
    ZHANG YOUJING (author) / WU XIAOYAN (author) / LU XIAOLEI (author) / ZHANG BIN (author) / ZHANG SHAOYONG (author) / LIU LIN (author) / SHA WENHAN (author) / NI SHAOYONG (author)

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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