The present disclosure provides a method and an apparatus for autonomously driving a vehicle. The method includes: recognizing a centerline of a lane on which a current vehicle is driving; acquiring a lateral distance between the current vehicle and the centerline of the lane, and a real-time speed and a real-time motion curvature of the current vehicle; calculating the lateral distance, the real-time speed, and the real-time motion curvature, based on a preset first spiral line equation, to acquire parameters of a reference spiral line; calculating the parameters, the real-time speed, and the real-time motion curvature, based on a preset second spiral line equation, to acquire a current spiral line; and determining an steering angle instruction of a steering wheel based on a first curvature of the current spiral line; and controlling the current vehicle for autonomous driving based on the steering angle instruction.


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    Title :

    METHODS, APPARATUSES, AND MEDIA FOR AUTONOMOUSLY DRIVING VEHICLE


    Additional title:

    VERFAHREN, VORRICHTUNGEN UND MEDIEN FÜR AUTONOM FAHRENDE FAHRZEUGE
    PROCÉDÉS, APPAREILS ET SUPPORTS POUR VÉHICULE DE CONDUITE AUTONOME


    Contributors:
    TANG KE (author) / HUANG JIAYONG (author) / PENG XIAPENG (author) / QIN WENCHUANG (author) / SHAO QIYANG (author)

    Publication date :

    2021-01-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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