Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A method and device for correcting lateral drift of an autonomous vehicle

A self-driving and vehicle technology, applied in the field of self-driving vehicles to correct lateral drift, can solve problems such as non-optimal trajectory, failure to reach the target point, accidents, etc., to achieve the effect of avoiding lateral drift, good real-time performance, and remarkable effect

Active Publication Date: 2022-03-18
紫清智行科技(北京)有限公司
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the trajectory of the vehicle is not optimal, and it is possible for the vehicle to drive along the edge, causing accidents. When the vehicle is in a corner, the vehicle may drive at the corner and fail to reach the target point due to mechanical restrictions or maximum corner restrictions.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A method and device for correcting lateral drift of an autonomous vehicle
  • A method and device for correcting lateral drift of an autonomous vehicle
  • A method and device for correcting lateral drift of an autonomous vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0040] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0041] The technology of correcting lateral drift in the field of automatic driving refers to that after the path planning determines the target and trajectory, it is sent to the control module to control the vehicle. However, due to mechanical reasons, the lateral drift is unmeasurable, and the vehicle can sense the lateral drift in time. Adjust the controller and correct the pose of the vehicle to ensure the accuracy and robustness of the route. By correcting the technology of lateral drift, combined with the perception and decision-making modules in automatic driving, the problem of yaw can be solved, which is suitable for low-featured scenes such as large indoor corridors.

[0042] The method and device for correcting lateral drift of an automatic driving vehicle provided by the embodiments of the present invention are applied to an automatic driv...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The embodiment of the present invention discloses a method and device for correcting lateral drift of an automatic driving vehicle. The method includes: planning a path according to the current pose of the vehicle and a target point, and driving along the planned path; compared with the planned path; when the lateral drift of the vehicle exceeds the threshold, judge whether the lateral drift of the vehicle is constant; when the lateral drift of the vehicle is constant, obtain the usage Based on the instruction indicating the speed of the vehicle, the speed value in the instruction is modified, and the modified speed value is sent to the chassis of the vehicle, so as to correct the continuous and constant lateral drift of the vehicle. In the solution provided by the embodiment of the present invention, dynamic compensation is performed according to the current lateral drift, effectively avoiding continuous lateral drift, with good real-time performance and remarkable effect, which provides a guarantee for automatic driving to better execute the planned path.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving, in particular to a method and device for correcting lateral drift of an automatic driving vehicle. Background technique [0002] Perception, decision-making, and control are essential links in current autonomous driving technology. For the navigation of existing self-driving vehicles, path planning is established based on the target location, and local planning is re-performed at regular intervals. If the car drifts laterally, the planner will re-plan according to the current yaw position when re-planning, and eventually the car can still reach the target position. [0003] However, the trajectory of the vehicle is not optimal, and it is possible for the vehicle to drive along the edge, causing accidents. When the vehicle is in a corner, the vehicle may drive at the corner and fail to reach the target point due to mechanical restrictions or maximum corner restrict...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B60W60/00B60W30/10B60W40/105
CPCB60W60/001B60W30/10B60W40/105B60W2720/12B60W2720/14
Inventor 王映焓于洋王更泽王宜飞
Owner 紫清智行科技(北京)有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com