The invention provides a track control method, an automatic driving vehicle, a related device and a medium, and relates to the field of unmanned vehicles and unmanned driving. The method comprises the following steps: acquiring a drivable space around the autonomous vehicle based on a sensor; according to the current control rotation angle and the vehicle size of the automatic driving vehicle, a current predicted driving area of the automatic driving vehicle is obtained; determining whether there is an obstacle in the current predicted driving area based on the travelable space, and when there is no obstacle in the current predicted driving area, controlling the autonomous vehicle to run based on the current control corner; when the obstacle exists in the current predicted driving area, a feasible control rotation angle of the autonomous vehicle is searched near the current control rotation angle, and the autonomous vehicle is controlled to run based on the feasible control rotation angle; and under the condition that the feasible control turning angle of the automatic driving vehicle is not found near the current control turning angle, the automatic driving vehicle is controlled to be braked. According to the invention, the safety and reliability of automatic driving are improved.

    提供了一种轨迹控制方法、自动驾驶车辆、相关装置和介质,涉及无人车、无人驾驶领域。该方法包括:基于传感器获取自动驾驶车辆周围的可行驶空间;根据自动驾驶车辆的当前控制转角和车辆尺寸,获取自动驾驶车辆的当前预计行驶区域;基于可行驶空间,确定在当前预计行驶区域中是否存在障碍物,在当前预计行驶区域中不存在障碍物时,基于当前控制转角控制自动驾驶车辆行驶;在当前预计行驶区域中存在障碍物时,在当前控制转角的附近查找自动驾驶车辆的可行的控制转角,基于可行的控制转角控制自动驾驶车辆行驶;在当前控制转角的附近未查找到自动驾驶车辆的可行的控制转角的情况下,控制自动驾驶车辆刹车。本公开提高了自动驾驶的安全性和可靠性。


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    Title :

    Track control method, autonomous vehicle, related device and medium


    Additional title:

    轨迹控制方法、自动驾驶车辆、相关装置和介质


    Contributors:
    PAN XUELIANG (author) / LYU QIANG (author) / HUANG YUNHUA (author)

    Publication date :

    2023-07-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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