Automatic driving track deviation detection method and detection system

• Main Authors: NI KAI, BAI PENGFEI
• Format: Patent
• Language: Chinese; English
• Published: 09.06.2023
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PERFORMING OPERATIONS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SURVEYING; TESTING; TRANSPORTING; VEHICLES IN GENERAL

The invention discloses an automatic driving track deviation detection method and system, and the method comprises the steps: collecting an initial state parameter value and a process parameter value of a vehicle through employing a common sensor in the prior art, and simulating a driving path equation of the vehicle in a driving process; calculating the Euler distance between the coordinate of the vehicle at the process position point pmt and the position point planned by the target path trajectory equation set, introducing the concept of the coincidence rate, and calculating the coincidence rate value of the process position coordinate point and the point on the target path trajectory equation as the characterization value of the deviation degree of the automatic driving trajectory. According to the method, the trajectory deviation degree in the vehicle driving process can be visually and quantitatively evaluated, the system is simple in structure, low in cost and convenient to arrange, a satellite position