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, DEVICES, AND MEDIA FOR AUTONOMOUSLY DRIVING VEHICLE
2021-01-14
Patent
Electronic Resource
English
Methods, devices, and media for autonomously driving vehicle
European Patent Office | 2022
|METHODS, APPARATUSES, AND MEDIA FOR AUTONOMOUSLY DRIVING VEHICLE
European Patent Office | 2021
|European Patent Office | 2021
|