To secure the driving safety by improving the success rate of the passage in a narrow curve of an automatic driving vehicle.SOLUTION: There are provided curve passage control method, device, equipment and medium of an automatic driving vehicle related to the field of an automatic driving technique. The method comprises the steps of: deciding a curve boundary located in a sensing area in the current travel direction of the automatic driving vehicle on the basis of the current position in the curve of the automatic driving vehicle; deciding the current safe stop distance in the curve of the automatic driving vehicle by using the current travel parameter of the automatic driving vehicle and the curve boundary; deciding a speed threshold of the automatic driving vehicle on the basis of the current safe stop distance, the brake parameter of the automatic driving vehicle and the curvature of the curve corresponding to the current position; and controlling the speed of the automatic driving vehicle so as not to exceed the speed threshold. The method can secure the driving safety by improving the success rate of the passage in the narrow curve of the automatic driving vehicle.SELECTED DRAWING: Figure 1
【課題】自動運転車両の狭いカーブにおける通行の成功率を向上させ、運転安全を確保する。【解決手段】自動運転技術の分野に関するものであり、自動運転車両のカーブ通行制御方法、装置、機器及び媒体。自動運転車両のカーブにおける現在の位置に基づいて、自動運転車両の現在の走行方向における感知領域内に位置するカーブ境界を決定するステップと、自動運転車両の現在の走行パラメータとカーブ境界とを用いて、自動運転車両のカーブにおける現在の安全停車距離を決定するステップと、現在の安全停車距離と、自動運転車両のブレーキパラメータと、現在の位置に対応するカーブの曲率とに基づいて、自動運転車両の速度閾値を決定するステップと、自速度閾値を超えないように動運転車両の速度を制御するステップと、を含む。自動運転車両の狭いカーブにおける通行の成功率を向上させ、運転安全を確保することができる。【選択図】図1
CURVE PASSAGE CONTROL METHOD, DEVICE, EQUIPMENT AND MEDIUM OF AUTOMATIC DRIVING VEHICLE
自動運転車両のカーブ通行制御方法、装置、機器及び媒体
2021-04-30
Patent
Electronic Resource
Japanese
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