The invention discloses a curve trafficability judgment method and system for an automatic driving vehicle and electronic equipment. The method comprises the steps that a lane center line, operation parameters and vehicle inherent parameters including the maximum steering angle are obtained; obtaining a transverse tracking error between the vehicle and the lane center line according to the lane center line and the operation parameters; calculating a vehicle steering angle by applying a preset vehicle steering geometric model according to the vehicle inherent parameters, the operation parameters and the transverse tracking error; the vehicle steering angle is compared with the maximum steering angle, the vehicle curve trafficability judgment result is obtained according to the comparison result, parameters involved in the method are simple, and the vehicle curve trafficability is pre-judged through a preview algorithm based on the two dynamic parameters of the vehicle longitudinal speed and the transverse tracking error; the method combines a vehicle steering geometric model, a lane line recognition technology and a high-precision map technology, pre-judges the curve passing ability of the vehicle based on the driving track of the vehicle, solves the curve passing problem of the intelligent driving vehicle, and improves the intelligence and safety of a driving system.
一种自动驾驶车辆弯道通过性判定方法、系统及电子设备,方法包括获取车道中心线、运行参数以及包括最大转向角的车辆固有参数;根据车道中心线以及运行参数获取车辆与车道中心线的横向循迹误差;根据车辆固有参数、运行参数以及横向循迹误差应用预设的车辆转向几何模型计算车辆转向角;将车辆转向角与最大转向角进行比较,并根据比较结果获取车辆弯道通过性判定结果,方法涉及参数简单,基于车辆纵向车速和横向循迹误差两个动态参数,采用预瞄算法对车辆弯道通过性进行预判;结合车辆转向几何模型、车道线识别技术和高精度地图技术,基于车辆的行驶轨迹,对车辆弯道通过性进行预判,解决智能驾驶车辆弯道通行问题,提升驾驶系统智能化与安全性。
Method and system for judging curve trafficability of automatic driving vehicle and electronic equipment
自动驾驶车辆弯道通过性判定方法、系统及电子设备
2023-10-24
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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