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Method, device, equipment and computer-readable storage medium for setting preview distance

A technology of preview distance and preview, applied in the field of automatic driving, can solve the problems of vibration, large path tracking error, unstable vehicle control, etc., to achieve the effect of improving accuracy

Active Publication Date: 2020-07-17
HUMAN HORIZONS (SHANGHAI) AUTONOMOUS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the pure tracking algorithm is greatly affected by the preview distance. A long preview distance will cause a large path tracking error, and a short preview distance will cause instability or even oscillation of the vehicle control.
At present, the preview distance is mostly estimated by technicians based on experience, which leads to low accuracy of path tracking

Method used

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  • Method, device, equipment and computer-readable storage medium for setting preview distance
  • Method, device, equipment and computer-readable storage medium for setting preview distance
  • Method, device, equipment and computer-readable storage medium for setting preview distance

Examples

Experimental program
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Effect test

example 1

[0091] Example 1: If the curvature of the vehicle's current position is smaller than the curvature threshold, take the difference between the curvature threshold and the curvature of the vehicle's current position, and multiply it by the curvature weight to obtain the reduction of the preview distance.

example 2

[0092] Example 2: If the driving speed of the vehicle is greater than the upper speed threshold, take the difference between the driving speed of the vehicle and the upper speed threshold, and multiply it by the weight of the vehicle speed to obtain the reduction of the preview distance.

example 3

[0093] Example 3: If the driving speed of the vehicle is less than the lower speed threshold, take the difference between the lower speed threshold and the driving speed of the vehicle, and multiply it by the weight of the vehicle speed to obtain the increase of the preview distance.

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Abstract

The embodiment of the invention provides a setting method and a setting device equipment for preview distance as well as equipment and a readable storage medium. The method comprises the following steps of acquiring position information corresponding to a plurality of target trajectory points; searching one target trajectory point according to the current preview distance to serve as a preview point; controlling a vehicle to drive according to the position information corresponding to the preview point; acquiring the driving state of the vehicle; and setting the current preview distance according to the position information corresponding to the preview point and the driving state of the vehicle. By implementing the invention, the setting of the preview distance can be adaptively adjusted to a proper value under different vehicle conditions or different road conditions, and thereby the accuracy of path tracking is improved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a method, device, equipment and computer-readable storage medium for setting a preview distance. Background technique [0002] In the field of automatic driving technology such as automatic parking and unmanned driving, the problem of path tracking has always been the focus and difficulty of research. The pure tracking algorithm is a geometric path tracking algorithm with high robustness and real-time performance. However, the pure tracking algorithm is greatly affected by the preview distance. A long preview distance will cause a large path tracking error, and a short preview distance will cause instability or even oscillation of the vehicle control. At present, the preview distance is mostly estimated by technicians based on experience, which leads to low accuracy of path tracking. Contents of the invention [0003] Embodiments of the present invention pro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/18B60W40/00B60W40/10B60W40/105
CPCB60W30/18B60W40/00B60W40/10B60W40/105
Inventor 丁磊孟超
Owner HUMAN HORIZONS (SHANGHAI) AUTONOMOUS TECH CO LTD
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