The invention discloses a ramp passage auxiliary driving method, which comprises the following steps of: when detecting that a ramp exists within a first distance in front of a current position of a vehicle in a global path, acquiring related information of the ramp; according to the global path plan, determining a local path plan passing through the ramp; selecting a ramp starting point for entering the ramp; detecting whether the vehicle runs on the rightmost slow lane at the current position, and if so, keeping the vehicle running on the lane; if not, changing the lane to the slow lane on the rightmost side and continuously driving; calculating to obtain a deceleration distance, and decelerating the vehicle when the distance between the vehicle and the ramp starting point is the deceleration distance; and when the distance between the vehicle and the starting point of the ramp is not greater than a first distance threshold value, switching the current sensing fusion strategy into a fusion strategy mainly based on the millimeter-wave radar, and controlling the vehicle to enter the ramp and drive out. According to the method, false identification of the auxiliary driving system on the ramp lane line and the road side line can be reduced, the accident risk is reduced, and the success rate of ramp passing and the user experience are improved.
本发明公开了一种匝道通行辅助驾驶方法,包括:当在全局路径中检测到车辆当前位置前方第一距离内有匝道时,获取匝道的相关信息;根据全局路径规划,确认通过匝道的局部路径规划;选择进入所述匝道的匝道起点;检测车辆当前位置是否行驶在最右慢车道,若是,则保持本车道继续行驶;若不是,则换道到最右侧慢车道并继续行驶;计算得到减速距离,当车辆与匝道起点的距离为减速距离时对车辆进行减速;当车辆与匝道起点的距离不大于第一距离阈值时将当前的感知融合策略切换为毫米波雷达为主的融合策略,控制车辆进入匝道并驶出。本发明的方法能够减少辅助驾驶系统对匝道车道线、道路边线的误识别,降低事故风险,提升匝道通行的成功率和用户体验。
Ramp passage auxiliary driving method
一种匝道通行辅助驾驶方法
2025-01-10
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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