Disclosed are an unmanned vehicle traveling method and apparatus. The method comprises: collecting coordinates of a preceding vehicle according to a preset period, and if initial coordinates of the preceding vehicle are detected in the current period, connecting a circular arc between the preceding vehicle and the present vehicle (101); calculating a central angle of the circular arc and a circular arc radius according to the initial coordinates (102); calculating the central angle, the circular arc radius and the predetermined number N of reference trajectory points according to a preset algorithm, and generating N reference trajectory point coordinates of the present vehicle in a vehicle body coordinate system in the current period (103); and generating a reference trajectory line according to the N reference trajectory point coordinates of the present vehicle in the vehicle body coordinate system in the current period, and controlling the present vehicle to travel according to the reference trajectory line (104). Therefore, the traveling trajectory of the present vehicle is planned according to the position of the preceding vehicle, and safe traveling of the present vehicle is guaranteed when no lane line is detected or a camera fails.
UNMANNED VEHICLE TRAVELING METHOD AND APPARATUS
VERFAHREN UND VORRICHTUNG ZUM FAHREN EINES UNBEMANNTEN FAHRZEUGS
PROCÉDÉ ET APPAREIL DE CIRCULATION DE VÉHICULE SANS PILOTE
2021-06-09
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge |
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