The invention discloses a point selection method for planning track reference points in an automatic driving scene, and the method comprises the following steps: S1), obtaining vehicle information and planning track information points which are discrete information points; s2) configuring a convergence condition and calculating a planned track reference point of the vehicle according to the convergence condition, the vehicle information and the planned track information point, wherein the convergence condition comprises a selection rule of the planned track information point and an included angle between a vehicle head orientation and the planned track information point; s3) calculating the error of the transverse offset of the current position according to the planning track reference point and the vehicle information; and S4) the error of the transverse offset of the current position is used for the steering angle of the steering wheel for transverse control.
本申请公开了一种自动驾驶场景下规划轨迹参考点的选点方法,包括如下步骤:S1)获取车辆信息及规划轨迹信息点,所述规划轨迹信息点为离散信息点;S2)配置收敛条件并根据所述收敛条件、所述车辆信息及规划轨迹信息点计算车辆的规划轨迹参考点,所述收敛条件包括规划轨迹信息点的选取规则及车头朝向与所述规划轨迹信息点的夹角;S3)根据所述规划轨迹参考点及所述车辆信息计算当前位置横向偏移量的误差;S4)将所述当前位置横向偏移量的误差用于横向控制的方向盘转角。
Point selection method for planning track reference points in automatic driving scene
一种自动驾驶场景下规划轨迹参考点的选点方法
2024-03-26
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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