The invention relates to the field of automatic driving, and discloses a vehicle offset correction method, which comprises the following steps of: traversing all path points in a tracing map to determine a path point closest to real-time positioning data of a vehicle; determining whether the distance between the vehicles at the nearest waypoint is greater than a set tracing deviation distance value, and if the distance between the vehicles at the nearest waypoint is greater than the tracing deviation distance value, switching the vehicle state into a tracing deviation state; when the vehicle state is a tracking deviation state, determining a target path point from a tracking map according to a set starting point distance coefficient; determining an included angle between the vehicle and the tracing path according to the Cartesian coordinates of the target path point, the Cartesian coordinates of the nearest path point and the Cartesian coordinates of the positioning data; and calculating a vehicle steering angle according to the included angle, so that the vehicle returns to the tracing path. Therefore, the vehicle deviated from the tracing path can be driven back to the set tracing path again.

    本发明涉及自动驾驶领域,公开了一种车辆偏移修正方法,包括:遍历寻迹地图中所有路径点,以确定与车辆实时的定位数据距离最近的路径点;确定最近的路径点车辆之间的距离是否大于设定的寻迹偏差距离值,若最近的路径点车辆之间的距离大于寻迹偏差距离值,将车辆状态切换为寻迹偏差状态;当车辆状态为寻迹偏差状态时,根据设定的起点距离系数从寻迹地图确定目标路径点;根据目标路径点的笛卡尔坐标、最近的路径点的笛卡尔坐标、定位数据的笛卡尔坐标,确定车辆与寻迹路径之间的夹角;根据夹角,计算车辆转向角度,以使车辆回到寻迹路径。由此,实现了使偏移出寻迹路径的车辆重新驾驶回到设定的寻迹路径中。


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    Title :

    Vehicle offset correction method


    Additional title:

    一种车辆偏移修正方法


    Contributors:
    SHAN XIAOMEI (author) / GUO BING (author) / LI MIAORAN (author) / LIU JIN (author)

    Publication date :

    2024-06-14


    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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