A kind of automatic driving control method

Abstract

The invention discloses an automatic driving control method, and belongs to the technical field of automatic driving. Existing control methods are feasible for simple road conditions, but difficult todescribe through a unified program framework for the complex traffic environment; and the traditional vehicle speed jump problem can be caused due to frequent switching of states and targets, and thecomfort is poor. According to the automatic driving control method, a spline interpolation algorithm is adopted, a complex route can be accurately described, by obtaining discrete points on the routesuch as corner coordinates and obstacle coordinates, coordinate values of a plurality of intermediate points are directly calculated, and then movement of a driverless vehicle is controlled accordingto interpolated coordinate values; and S-type acceleration and deceleration control can well realize smooth start and stop and speed switching of vehicles, the accelerationless sudden change can be achieved, the movement impact and shock of the vehicles can be well reduced, and thus the comfort of autonomous vehicles is effectively improved.

Description

technical field [0001] The invention relates to an automatic driving control method, which belongs to the technical field of automatic driving. Background technique [0002] Autopilot technology for cars includes video cameras, radar sensors, and laser range finders to understand the surrounding traffic conditions, and is realized through data centers. Self-driving cars are equivalent to remote-controlled cars or smart cars in data centers. Intelligent driving technology is an extremely important part in the field of intelligent transportation. With the rapid improvement of computing power and the increasing demand for intelligent transportation automation, more and more national research institutions and companies pay more attention to the intelligent driving technology. field. [0003] The relevant literature and reports published at present mainly use the judgment and matching of multiple modes to carry out the longitudinal control of the vehicle. The implementation is r...

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Problems solved by technology

[0003] The relevant literature and reports published at present mainly use the judgment and matching of multiple modes to carry out the longitudinal control of the vehicle. The implementation is relatively simple and it is easy to switch frequently between multiple modes. The fusion algorithm of cruise ACC and automatic emergency braking (AEB) functions is feasible for simple road conditions, but it is difficult to use a unified program framework to describe the complex traffic environment. Cause vehicle speed jump problem, poor comfort

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