A system for implementing lane offset maneuver to pass a curved road includes an autonomous vehicle and a control device. The control device determines that the autonomous vehicle is approaching the curved road. The control device determines a road radius of the curved road. The control device calculates a first lane offset adjustment amount associated with a road curvature of the curved road based on the road radius. The control device calculates a second lane offset adjustment amount associated with a trailer angle between a trailer of the autonomous vehicle and the half-truck tractor unit. The control apparatus calculates a total lane offset adjustment amount by combining the first lane offset adjustment amount and the second lane offset adjustment amount. The control device instructs the autonomous vehicle to perform a lane offset maneuver that includes driving the autonomous vehicle away from a center in the curved lane based on the total lane offset adjustment amount.
一种用于实现车道偏置机动以通过弯曲道路的系统,包括自动驾驶车辆和控制设备。控制设备确定自动驾驶车辆正在接近弯曲道路。控制设备确定弯曲道路的道路半径。控制设备基于道路半径来计算与弯曲道路的道路曲率相关联的第一车道偏置调整量。控制设备计算与自动驾驶车辆的拖车和半卡车牵引车单元之间的拖车角度相关联的第二车道偏置调整量。控制设备通过组合第一车道偏置调整量和第二车道偏置调整量来计算总车道偏置调整量。控制设备指令自动驾驶车辆执行车道偏置机动,该车道偏置机动包括:基于总车道偏置调整量来驱动自动驾驶车辆偏离弯曲车道中的中心。
Lane offset maneuver of autonomous vehicles through curved roads
自动驾驶车辆通过弯曲道路的车道偏置机动
2024-06-11
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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