Method for predicting path by using Bezier curve through lane centering auxiliary function of automatic driving system

Abstract

The invention provides a method for predicting a path by using a Bezier curve through lane centering auxiliary function of an automatic driving system. The control method comprises the following steps: acquiring coordinates of N points within a preview distance in front of a vehicle on a lane; and calculating a Bezier curve according to the coordinates of the N points to serve as a predicted path.The preview distance is the longitudinal distance of the assumed vehicle which is used for performing path prediction through a lane centering auxiliary function and moves forwardly and straightly according to the current state. The Bezier curve always passes through the starting point and the end point and is tangent to the starting point and the end point of the characteristic polygon, so thatthe starting point of the planned path is more suitable for the posture of the current vehicle, and the end point is more suitable for the track of the lane center line. Due to the convex hull property of the Bezier curve, the planned curve is smoother than a curve planned by an interpolation method, so that the control is smoother, and the comfort is improved.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a method for path prediction performed by a lane centering assist function. Background technique [0002] In the field of automatic driving, the lane centering assist function is a function that assists the driver to drive in the middle of the lane by automatically controlling the steering wheel through the system. Specifically, the driving of the vehicle is still mainly carried out by the driver controlling the steering wheel, while the lane centering assist function runs silently in the background. The sensor installed at the front of the vehicle obtains the width and curvature of the lane in real time to determine whether the vehicle is If the deviation is too far from the center line of the lane, if the deviation is not too far, the driver will control the steering wheel to continue driving without intervention; Possibly centered. Among them, when the lane centering assist ...

AI Technical Summary

Problems solved by technology

Existing path prediction methods mainly use interpolation path prediction for lateral control, but the path predicted by this prediction method is often not smooth, which affects driving comfort

Images