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A side slip compensation method and system for an automatic driving vehicle

A technology of automatic driving and compensation method, applied in vehicle components, circuits or fluid pipelines, transportation and packaging, etc., can solve problems such as untimely side slip control, and achieve the effect of avoiding accidents

Inactive Publication Date: 2021-02-26
CHONGQING VOCATIONAL INST OF ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a side slip compensation method and system for automatic driving vehicles, and solve the technical problem of untimely side slip control in the prior art

Method used

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  • A side slip compensation method and system for an automatic driving vehicle

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Embodiment 1

[0019] Such as figure 1 As shown, Embodiment 1 of the present invention provides a sideslip compensation method for an automatic driving vehicle, comprising the following steps:

[0020] Establish a relationship model among driving scenarios, sideslip driving parameters and interference parameters;

[0021] Acquiring the estimated driving scene at the next moment, predicting the estimated sideslip driving parameter corresponding to the estimated driving scene and the corresponding pre-intervention parameter according to the relationship model;

[0022] Acquiring real-time driving parameters, comparing the real-time driving parameters with the estimated sideslip driving parameters, and compensating the pre-intervention parameters according to the comparison result;

[0023] According to the pre-intervention parameters after compensation, the automatic driving control of the vehicle at the next moment is carried out.

[0024] The present invention firstly establishes the relat...

Embodiment 2

[0039] Embodiment 2 of the present invention provides a sideslip compensation system for an automatic driving vehicle, including a modeling module, an estimation module, a compensation module and a control module;

[0040] The modeling module is used to establish a relationship model among driving scenarios, sideslip driving parameters and interference parameters;

[0041] The estimation module is used to obtain the estimated driving scene at the next moment, predict the estimated sideslip driving parameters corresponding to the estimated driving scene according to the relationship model, and the corresponding pre-intervention parameters;

[0042] The compensation module is used to obtain real-time driving parameters, compare the real-time driving parameters with the estimated sideslip driving parameters, and compensate the pre-intervention parameters according to the comparison result;

[0043] The control module is used for performing automatic driving control on the vehicle...

Embodiment 3

[0048] Embodiment 3 of the present invention provides a computer storage medium, on which a computer program is stored. When the computer program is executed by a processor, the sideslip compensation method for an automatic driving vehicle provided in any of the above embodiments is implemented.

[0049] The computer storage medium provided by the present invention is used to realize the sideslip compensation method of the self-driving vehicle. Therefore, the technical effects of the above-mentioned sideslip compensation method of the self-driving vehicle are also provided by the computer storage medium, and will not be repeated here.

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Abstract

The invention relates to the technical field of vehicle automatic driving, and discloses a sideslip compensation method for an automatic driving vehicle, comprising the following steps: establishing a relationship model among driving scenes, sideslip driving parameters, and interference parameters; obtaining an estimate at the next moment The driving scene, predicting the estimated sideslip driving parameters corresponding to the estimated driving scene according to the relationship model, and the corresponding pre-intervention parameters; obtaining real-time driving parameters, and comparing the real-time driving parameters with the estimated sideslip driving parameters, and compensate the pre-intervention parameters according to the comparison results; perform automatic driving control on the vehicle at the next moment according to the pre-compensated pre-intervention parameters. The invention can realize the pre-intervention of sideslip, reflect in time, and avoid accidents caused by sideslip.

Description

technical field [0001] The invention relates to the technical field of automatic driving of vehicles, in particular to a sideslip compensation method and system for automatic driving vehicles. Background technique [0002] Vehicle automatic driving is the product of the development of intelligent transportation integrating automatic control system, intelligent road and environmental perception technologies. Safe Driving. At present, when the vehicle is automatically driving for side-slip control, usually it can only be controlled after the side-slip occurs, and pre-intervention cannot be performed. However, the speed of the side-slip is usually faster, and a faster reaction speed is required. If the side-slip If the control is carried out after the occurrence, it is likely that the accident will occur due to untimely control. Contents of the invention [0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a side s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18B60R16/023
CPCB60R16/0232B60W30/18009
Inventor 周桐陈勤刘鑫
Owner CHONGQING VOCATIONAL INST OF ENG
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