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.
METHODS, APPARATUSES, AND MEDIA FOR AUTONOMOUSLY DRIVING VEHICLE
VERFAHREN, VORRICHTUNGEN UND MEDIEN FÜR AUTONOM FAHRENDE FAHRZEUGE
PROCÉDÉS, APPAREILS ET SUPPORTS POUR VÉHICULE DE CONDUITE AUTONOME
2021-01-13
Patent
Electronic Resource
English
METHODS, DEVICES, AND MEDIA FOR AUTONOMOUSLY DRIVING VEHICLE
European Patent Office | 2021
|Methods, devices, and media for autonomously driving vehicle
European Patent Office | 2022
|European Patent Office | 2021
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