The invention discloses a bus automatic driving system and method based on a lane line, and belongs to the technical field of automatic driving, and the system comprises an environment sensing module which is used for receiving sensor data outputted by a plurality of vehicle-mounted sensing sensors as input, and outputting the processed sensing data to a sensing fusion module; the sensing fusion module receives the sensing data output by the environment sensing module as input, and outputs the fused sensing data obtained through processing to an interaction function module and a decision planning module; the positioning map module is used for receiving sensor data output by the vehicle-mounted positioning sensor; by designing subsystem functions of each part, an automatic bus driving scheme based on a bus lane is realized, and the problem of high cost of sensing equipment and positioning equipment caused by an existing automatic driving scheme based on a high-precision map is solved, so that the implementation cost of the automatic bus driving system is greatly reduced, and the implementation efficiency of the automatic bus driving system is improved. The economic benefit is improved.

    本发明公开了一种基于车道线的公交车自动驾驶系统及方法,属于自动驾驶技术领域,包括环境感知模块,其用于接收多个车载感知传感器输出的传感器数据作为输入,并将处理得到的感知数据输出到感知融合模块;感知融合模块,其接收所述环境感知模块输出的感知数据作为输入,并将处理得到融合感知数据输出到交互功能模块和决策规划模块;定位地图模块,其接收车载定位传感器输出的传感器数据;本发明通过设计了各部分的子系统功能,实现了基于公交车车道的公交车自动驾驶方案,解决了现有的基于高精地图的自动驾驶方案带来的感知设备和定位设备成本高昂的问题,从而大量缩减了公交车自动驾驶系统的实施成本,提高经济效益。


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    Title :

    Bus automatic driving system and method based on lane lines


    Additional title:

    一种基于车道线的公交车自动驾驶系统及方法


    Contributors:
    YANG ZHIWEI (author) / CAO KE (author) / LI WENSHUAI (author) / GONG YAN (author) / ZHANG YIWEI (author) / LIU LONG (author)

    Publication date :

    2024-04-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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