The invention relates to an automatic driving mode switching method and system and a vehicle. The automatic driving mode switching method comprises the steps that map lane line data are obtained through high-precision map information obtained through a positioning system; obtaining sensing lane line data through a sensing system; calculating a self-vehicle driving track prediction line according to the self-vehicle driving speed; judging whether a collision risk exists or not according to the self-vehicle driving track prediction line and the sensing lane line data; under the condition that a collision risk exists, calculating to obtain a transverse deviation between the map lane line data and the sensing lane line data at a collision point; and switching an automatic driving mode according to the collision risk and the lateral deviation. According to the automatic driving mode switching method and system and the vehicle provided by the invention, a mature automatic driving mode based on a map can be utilized, and possible collision accidents can be avoided through a perception-based automatic driving mode under the condition of complex road change, so that the application range of the automatic driving mode of the vehicle is expanded.

    本发明涉及一种自动驾驶模式切换方法、系统及车辆,包括:通过定位系统获得的高精地图信息获取地图车道线数据;通过感知系统获取感知车道线数据;根据自车行驶速度计算获得自车行驶轨迹预测线;根据所述自车行驶轨迹预测线与所述感知车道线数据判断是否存在碰撞风险;在存在碰撞风险的情况下,计算获得碰撞点处所述地图车道线数据与所述感知车道线数据的横向偏差;根据所述碰撞风险及所述横向偏差切换自动驾驶模式。本发明所提出的自动驾驶模式切换方法、系统及车辆,既能够利用成熟的基于地图的自动驾驶模式,也可以在道路变化复杂的情况下通过基于感知的自动驾驶模式来避免可能发生的碰撞事故,从而提高车辆自动驾驶模式的使用范围。


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    Title :

    Automatic driving mode switching method and system and vehicle


    Additional title:

    一种自动驾驶模式切换方法、系统及车辆


    Contributors:
    HUANG CONGLIN (author) / DU PENG (author) / DAI HAOJUN (author)

    Publication date :

    2024-07-02


    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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