CN111409604A - Autonomous vehicle and steering method thereof - Google Patents
Autonomous vehicle and steering method thereof Download PDFInfo
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- CN111409604A CN111409604A CN202010278936.6A CN202010278936A CN111409604A CN 111409604 A CN111409604 A CN 111409604A CN 202010278936 A CN202010278936 A CN 202010278936A CN 111409604 A CN111409604 A CN 111409604A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/14—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring
- B60S9/16—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring for operating only on one end of vehicle
- B60S9/20—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for both lifting and manoeuvring for operating only on one end of vehicle with fluid-pressure lift
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Abstract
The invention discloses an automatic driving vehicle and a steering method thereof, and relates to the field of unmanned vehicles (or automatic driving or unmanned driving). By the technical scheme, the difficulty of algorithm development of the automatic driving vehicle is favorably reduced, the problem that the automatic driving vehicle cannot steer on a narrow road is solved, and the requirement of the automatic driving vehicle on the surrounding environment for realizing steering is reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to an automatic driving vehicle and a steering method thereof.
Background
The current small-size unmanned car is widely used, sells car to security protection cruiser etc. from the unmanned in park, has solved many problems in the real life. However, in the process of driving by the unmanned vehicle, the unmanned vehicle can encounter a narrow or irregular road driving scene, which is easy to cause difficulty in path planning, and the difficulty of the control algorithm of the automatic driving vehicle is undoubtedly increased when the unmanned vehicle turns or turns around, so that the robustness of path planning and driving is reduced. For example, due to the limitation of the wheelbase and the wheel distance of the vehicle, the turning of the vehicle requires a wider road to meet the turning radius, but in some scenes, the wide enough road is impractical, such as scenes of parks, factories or parks, and the like, the road is narrow, so that the unmanned vehicle is difficult to realize direct turning or turning around.
At present, the three-section turning method can be adopted to realize the turning of the unmanned vehicle, namely, the unmanned vehicle firstly moves to the right front, then moves back to the left rear and then moves to the right front. It is also possible to replace all wheels of the unmanned vehicle with steerable wheels, which of course makes steering easier, but this undoubtedly increases the instability of the unmanned vehicle during driving and increases the manufacturing costs of the unmanned vehicle.
Disclosure of Invention
In view of the above, the invention provides an automatic driving vehicle and a steering method thereof, which are beneficial to reducing the difficulty of algorithm development of the automatic driving vehicle, solving the problem that the automatic driving vehicle cannot steer on a narrow road, and reducing the requirement of the automatic driving vehicle on the surrounding environment for realizing steering.
In a first aspect, an embodiment of the present invention provides an autonomous vehicle, including:
the automatic steering device comprises a vehicle body and a steering control component, wherein the steering control component is used for supporting the vehicle body of the automatic driving vehicle to be lifted off the ground and driving the vehicle body of the automatic driving vehicle to rotate by a set angle after the automatic driving vehicle is lifted off the ground.
Optionally, the steering control component comprises:
the lifting component can lift in the direction vertical to the ground, and is used for supporting the vehicle body to lift off the ground;
the rotating component is used for driving the vehicle body to rotate in situ by a set angle after the vehicle body leaves the ground.
Optionally, the rotating component is fixedly connected with the vehicle body, and the rotating component rotates to drive the vehicle body to rotate in situ by a set angle after being lifted off the ground;
the lifting component can be telescopic relative to the rotating component, and the lifting component can extend out of the rotating component to support the vehicle body to lift off.
Optionally, the steering control component further comprises:
and the ground supporting end of the lifting component is fixedly connected with the supporting chassis.
Alternatively, the rotating member is fixed to the inside of the vehicle body, and the lifting member and the support chassis are receivable in the inside of the vehicle body.
Optionally, the steering control component is mounted at the bottom of the vehicle body, and the steering control component is mounted corresponding to the position of the center of gravity of the autonomous vehicle.
Optionally, the autonomous vehicle further comprises:
the positioning component is used for acquiring the position of the automatic driving vehicle and acquiring a real scene map of the position of the automatic driving vehicle according to the position;
and the starting control component is used for determining whether to start the steering control component according to the received live-action map.
Optionally, the autonomous vehicle further comprises:
an obstacle detection unit mounted on the vehicle body for detecting whether an obstacle exists around the vehicle body of the autonomous vehicle;
and the starting control part is used for determining whether to start the steering control part according to the obstacle detection result.
Optionally, the autonomous vehicle further comprises:
an obstacle detection unit mounted on the vehicle body, for detecting whether an obstacle is present in a traveling direction of the autonomous vehicle, and determining whether the autonomous vehicle can bypass the obstacle;
and the starting control part is used for determining whether to start the steering control part according to the judgment result of the obstacle.
In a second aspect, an embodiment of the present invention further provides a steering method for an autonomous vehicle, including:
supporting a body of the autonomous vehicle off ground;
and controlling the body of the automatic driving vehicle to rotate by a set angle after the automatic driving vehicle leaves the ground.
Optionally, before controlling the steering control component to support the body of the autonomous vehicle from the ground, the steering method further includes:
acquiring a live-action map of the position of the automatic driving vehicle;
acquiring the width of a lane where the automatic driving vehicle is located currently according to the live-action map;
obtaining a minimum turning radius of the autonomous vehicle;
determining a steering mode of the autonomous vehicle according to the minimum turning radius of the autonomous vehicle and the width of the lane;
if the minimum turning radius is larger than the width of the lane, supporting the body of the automatic driving vehicle to lift off the ground, and controlling the body of the automatic driving vehicle to rotate by a set angle after the automatic driving vehicle lifts off the ground;
and if the minimum turning radius is smaller than or equal to the width of the lane, controlling the automatic driving vehicle to normally steer.
The embodiment of the invention provides an automatic driving vehicle and a steering method thereof. Therefore, the embodiment of the invention provides a relatively efficient steering system of an automatic driving vehicle on a relatively narrow road, which is beneficial to reducing the difficulty of algorithm development of the automatic driving vehicle, solving the problem that the automatic driving vehicle cannot steer on the relatively narrow road, reducing the requirement of the automatic driving vehicle on the surrounding environment for realizing steering, improving the driving stability of the automatic driving vehicle and also improving the universality of the application scene of the automatic driving vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic side view of an autonomous vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a steering control component according to an embodiment of the present invention;
FIG. 3 is a schematic side view of another autonomous vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an autonomous vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another autonomous vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart illustrating a steering method for an autonomous vehicle according to an embodiment of the present invention;
fig. 7 is a schematic specific flowchart of a steering method of an autonomous vehicle according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Fig. 1 is a schematic side view of an autonomous vehicle according to an embodiment of the present invention. As shown in fig. 1, the autonomous vehicle includes a vehicle body 1 and a steering control member 2, and the steering control member 2 is configured to support the vehicle body 1 of the autonomous vehicle from the ground and drive the vehicle body 1 of the autonomous vehicle after the ground is lifted to rotate by a set angle.
Specifically, as shown in fig. 1, when the autonomous vehicle travels on a road having a narrow width, the width of the road cannot satisfy the minimum turning radius of the autonomous vehicle due to the restrictions of the wheel base and the wheel distance of the vehicle, resulting in difficulty in achieving a direct turn or a u-turn of the autonomous vehicle on the narrow road. According to the embodiment of the invention, when the automatic driving vehicle runs on a narrow road and needs to turn, the steering control component 2 is arranged, the steering control component 2 can support the vehicle body 1 of the automatic driving vehicle to lift off, and drive the vehicle body 1 of the automatic driving vehicle after lifting off to rotate by a set angle according to the steering requirement, for example, the automatic driving vehicle can be supported to lift off, so that the automatic driving vehicle can turn on site or turn around, and the automatic driving vehicle can turn around or turn around as long as the road width is greater than the length from the head to the tail of the automatic driving vehicle.
Therefore, the embodiment of the invention realizes a relatively efficient steering method of the automatic driving vehicle on a narrow road, solves the problem that the automatic driving vehicle cannot steer on the narrow road, reduces the requirement of the automatic driving vehicle on the surrounding environment for realizing steering, and improves the universality of the application scene of the automatic driving vehicle. Compared with a three-section type turning method, the method has the advantages that the difficulty of algorithm development of the automatic driving vehicle is effectively reduced, the probability that the automatic driving vehicle influences the safety of surrounding pedestrians is reduced, the driving stability of the automatic driving vehicle is improved and the manufacturing cost of the automatic driving vehicle is reduced compared with the method that steering wheels are adopted to achieve steering of the automatic driving vehicle.
Fig. 2 is a schematic structural diagram of a steering control component according to an embodiment of the present invention. With reference to fig. 1 and 2, the steering control component 2 may include a lifting component 3 and a rotating component 4, the lifting component 3 may lift in a direction perpendicular to the ground, the lifting component 3 is configured to support the vehicle body 1 to lift off the ground, and the rotating component 4 is configured to drive the vehicle body 1 to rotate in place by a set angle after the vehicle body 1 is lifted off the ground. Specifically, the lifting component 3 moves towards the direction far away from the ground, namely, the wheels of the automatic driving vehicle can be supported to leave the ground, the lifting component 3 moves towards the direction close to the ground, the wheels of the automatic driving vehicle can be contacted with the ground again, after the lifting component 3 supports the vehicle body 1 of the automatic driving vehicle to leave the ground, the rotating component 4 drives the vehicle body 1 which leaves the ground to rotate in place for a set angle according to the requirement of the steering angle, and the steering or turning around of the automatic driving vehicle on a narrow road is realized. Exemplarily, the lifting component 3 may be a lifting shaft, the rotating component 4 may be a steering shaft, and the rotating component 4 may control its own steering angle through hydraulic pressure, and drive the vehicle body 1 to rotate clockwise or counterclockwise according to actual requirements.
Fig. 3 is a schematic side view of another autonomous vehicle according to an embodiment of the present invention. Referring to fig. 1 to 3, a rotating component 4 may be fixedly connected to the vehicle body 1, the rotating component 4 rotates to drive the vehicle body 1 to rotate in place for a predetermined angle after being lifted off the ground, the lifting component 3 is retractable relative to the rotating component 4, and the lifting component 3 may extend out of the rotating component 4 to support the vehicle body 1 to be lifted off the ground.
Specifically, the rotating component 4 can be fixedly connected with the body 1 of the automatic driving vehicle, the rotating component 4 can horizontally rotate by a certain angle, and the fixed connection relation with the body 1 can be relied on to drive the body 1 of the automatic driving vehicle to rotate in situ by a set angle, the lifting component 3 can stretch relative to the rotating component 4, the rotating component 4 is fixedly connected with the body 1 of the automatic driving vehicle, the lifting component 3 can stretch relative to the body 1, when the automatic driving vehicle turns on a narrow road, the lifting component 3 can stretch out of the rotating component 4 to support the body 1 of the automatic driving vehicle to lift off the ground, after turning, the lifting component 3 can be retracted into the rotating component 4, and the automatic driving vehicle returns to the ground again to continue normal running. Like this, utilize the comparatively simple steering control part 2 of structure that lifting unit spare 3 and rotary part 4 are constituteed, can realize that the autonomous driving vehicle comparatively high efficiency turns to on narrower road, solved the unable problem that turns to of autonomous driving vehicle on narrower road, promoted the universality of autonomous driving vehicle application scene.
Optionally, with reference to fig. 1 to 3, the steering control part 2 may further include a support chassis 5, and the ground support end of the lifting part 3 is fixedly connected to the support chassis 5. Specifically, the ground supporting end of the lifting component 3 is the end of the lifting component 3 close to the ground, the supporting chassis 5 can be, for example, a circular chassis or a directional chassis with a large area, and the supporting chassis 5 is arranged, so that after the lifting component 3 supports the body 1 of the autonomous vehicle, the supporting chassis 5 can effectively improve the stability of the body 1 of the autonomous vehicle in the rotating process and improve the safety of the autonomous vehicle in-situ steering.
Alternatively, referring to fig. 1 to 3, a rotating member 4 may be fixed inside the vehicle body 1, and the lifting member 3 and the supporting chassis 5 may be accommodated inside the vehicle body 1, for example, the rotating member 4 may be fixed inside the vehicle body 1 at a chassis position of the vehicle body 1, when the autonomous vehicle travels on a narrow road and needs to turn, the lifting member 3 supports the vehicle body 1 to be lifted off, and the supporting chassis 5 is used to provide a stable supporting surface for the vehicle body 1, and when the autonomous vehicle travels normally on a road surface, the lifting member 3 and the supporting chassis 5 may be accommodated inside the vehicle body 1, so as to prevent the lifting member 3 and the supporting chassis 5 from affecting the normal travel of the autonomous vehicle.
Alternatively, referring to fig. 1 to 3, it may be provided that the steering control member 2 is mounted on the bottom of the vehicle body 1, and the steering control member 2 is mounted corresponding to the position of the center of gravity of the autonomous vehicle. Specifically, the steering control component 2 is installed at the bottom of the vehicle body 1, the rotating component 4 can be fixedly installed at the bottom of the vehicle body 1, the lifting component 3 and the supporting chassis 5 are fixedly installed at the bottom of the vehicle body 1 through the rotating component 4, and the whole steering control component 2 can be installed at the position corresponding to the center of the automatic driving vehicle, so that after the steering control component 2 supports the vehicle body 1 to be away from the ground, the stability of the automatic driving vehicle in the rotating process of the vehicle body 1 is effectively improved, and the safety of the automatic driving vehicle in-situ steering is improved.
Fig. 4 is a schematic structural diagram of an autonomous vehicle according to an embodiment of the present invention. With reference to fig. 1 to 4, the autonomous vehicle may further include a positioning component 6 and a start control component 7, where the positioning component 6 is configured to obtain a position of the autonomous vehicle, and obtain a live-action map of the position of the autonomous vehicle according to the position, and the start control component 7 is configured to determine whether to start the steering control component according to the received live-action map.
Specifically, the activation control component 7 may be in communication with the positioning component 6, i.e. both may be directly electrically connected or wirelessly connected, and the activation control component 7 is configured to determine whether to activate the steering control component 2 according to the received live-action map. For example, the Positioning component 6 may include a gps (global Positioning system) component, the Positioning component 6 may obtain a location of the autonomous vehicle, and obtain a real map of the location of the autonomous vehicle according to the location, the start control component 7 receives the real map of the location of the autonomous vehicle, and may obtain a real high-precision map of the location of the autonomous vehicle, and further analyze and obtain a width of a lane in which the autonomous vehicle is currently located, when the start control component 7 determines that the width of the lane in which the autonomous vehicle is currently located cannot meet a turning requirement of the autonomous vehicle, the autonomous vehicle is controlled to park in place, the steering control component 2 is started, and the steering control component 2 is utilized to implement rotation of the autonomous vehicle by a specified angle according to a path planning traveling direction. When the starting control part 7 judges that the width of the lane where the automatic driving vehicle is located at present can meet the turning requirement of the automatic driving vehicle, the automatic driving vehicle is controlled to realize steering or turning according to a common turning or turning mode. In addition, the steering control component 2 can also be applied to the parking scene of the automatic driving vehicle, and the automatic driving vehicle can be controlled to rotate in place by utilizing the steering control component 2, so that the parking convenience of the automatic driving vehicle is improved.
Fig. 5 is a schematic structural diagram of another autonomous vehicle according to an embodiment of the present invention. Referring to fig. 1 to 5, the autonomous vehicle may further include an obstacle detection part 8 and a start control part 7, the obstacle detection part 8 being mounted on the vehicle body for detecting whether an obstacle exists around the vehicle body of the autonomous vehicle, the start control part 7 for determining whether to start the steering control part 2 according to the result of the obstacle detection.
For example, it may be configured that both sides of the vehicle body 1 are provided with obstacle detection components 8, the obstacle detection components 8 are used for detecting whether obstacles exist on the corresponding sides of the vehicle body 1 of the automatic driving vehicle, the start control component 7 is in communication connection with the obstacle detection components 8, namely, the obstacle detection components can be directly electrically connected or wirelessly connected, and the start control component 7 is used for determining whether to start the steering control component 2 according to the obstacle detection result.
Specifically, the obstacle detection component 8 may be, for example, a lateral radar device installed on two sides of the vehicle body 1, the obstacle detection component 8 may be configured to detect whether an obstacle exists on a corresponding side of the vehicle body 1 of the autonomous vehicle in real time, when the autonomous vehicle travels on a narrow road and needs to turn, the autonomous vehicle is parked in place, if the start control component 7 determines that an obstacle exists on the turning side of the vehicle body 1 according to the obstacle detection structure, the steering control component 2 is controlled to be turned off, the system reports the obstacle detection condition, the system readjusts the travel route of the autonomous vehicle, and damage caused by the autonomous vehicle hitting the obstacle is avoided. If the starting control part 7 judges that no obstacle exists on the steering side of the vehicle body 1 according to the obstacle detection structure, the steering control part 2 can be started to control the automatic driving vehicle to realize pivot steering after being lifted off the ground.
Alternatively, with reference to fig. 1 to 5, it may be provided that the autonomous vehicle further includes an obstacle detecting part 8 and a start control part 7, the obstacle detecting part 8 being mounted on the vehicle body for detecting whether an obstacle exists in a traveling direction of the autonomous vehicle and determining whether the autonomous vehicle can detour past the obstacle, the start control part 7 for determining whether to start the steering control part 2 according to a result of the obstacle determination.
For example, it may be configured that an obstacle detection component 8 is installed in front of the vehicle body 1 in the traveling direction, the obstacle detection component 8 is used for detecting whether an obstacle exists in the traveling direction of the autonomous vehicle and judging whether the autonomous vehicle can bypass the obstacle, the start control component 7 is in communication connection with the obstacle detection component 8, namely, the obstacle detection component and the start control component can be directly electrically connected or wirelessly connected, and the start control component 7 is used for determining whether to start the steering control component 2 according to the judgment result of the obstacle.
Specifically, the obstacle detecting means 8 may be, for example, a radar device mounted in front of the vehicle body 1 in the traveling direction, and the obstacle detecting means 8 may be provided to detect in real time whether an obstacle exists in front of the autonomous vehicle body 1 in the traveling direction and determine whether the autonomous vehicle can detour past the obstacle, for example, the obstacle detecting means 8 may detect the height of the obstacle in front when detecting that an obstacle exists in front of the vehicle in the traveling direction, and determine that the maximum torque of the engine of the autonomous vehicle can overcome the obstacle in front according to the height of the obstacle, that is, determine whether the autonomous vehicle can cross the obstacle in front by adjusting the engine torque. When the autonomous vehicle runs on a narrow road, if it is determined that there is an obstacle ahead of the autonomous vehicle in the traveling direction and the autonomous vehicle can pass the obstacle by adjusting the engine torque, the steering control unit 2 may be controlled to turn off, and the autonomous vehicle continues to run. If it is determined that there is an obstacle ahead of the autonomous vehicle in the traveling direction and the autonomous vehicle cannot pass the obstacle even by adjusting the engine torque, the steering control unit 2 may be activated to control the autonomous vehicle to turn on the spot after leaving the ground so as to avoid the obstacle and continue traveling.
Or, the obstacle detecting component 8 may trigger the positioning component to acquire the position of the automatically driven vehicle when detecting that an obstacle exists ahead of the vehicle in the traveling direction, acquire a live-action map of the position of the automatically driven vehicle according to the position of the automatically driven vehicle, and determine that the automatically driven vehicle can move forward and travel around the obstacle according to the live-action map. When the autonomous vehicle runs on a narrow road, if it is determined from the live-action map that the autonomous vehicle can travel forward and around the obstacle, the steering control unit 2 may be controlled to turn off, and the autonomous vehicle may run along a route that can around the obstacle ahead. If it is determined that the autonomous vehicle cannot travel around the obstacle in front regardless of the route of travel according to the live-action map, the steering control unit 2 may be activated to control the autonomous vehicle to turn on the spot after leaving the ground to continue traveling around the obstacle. The embodiment of the invention also provides a steering method of the automatic driving vehicle. Fig. 6 is a flowchart illustrating a steering method of an autonomous vehicle according to an embodiment of the present invention, where the steering method of the autonomous vehicle may be performed by the autonomous vehicle according to the embodiment, and as shown in fig. 6, the steering method of the autonomous vehicle includes:
and S110, supporting the body of the automatic driving vehicle to the ground.
Specifically, referring to fig. 1 to 5, when the autonomous vehicle travels on a narrow road and needs to be steered, the body of the autonomous vehicle may be supported off the ground by the steering control member, for example, the body of the autonomous vehicle may be supported off the ground by the lifting member in the steering control member.
And S120, controlling the body of the automatic driving vehicle after the vehicle leaves the ground to rotate by a set angle.
Specifically, referring to fig. 1 to 5, after the steering control member supports the body of the autonomous vehicle to lift off, the steering control member controls the body of the autonomous vehicle to rotate by a set angle after the body is lifted off, for example, a rotating member in the steering control member may drive the body to rotate by the set angle.
Optionally, before controlling the steering control component to support the body of the autonomous vehicle from the ground, the steering method further includes obtaining a live-action map of a position where the autonomous vehicle is located, obtaining a width of a lane where the autonomous vehicle is currently located according to the live-action map, obtaining a minimum turning radius of the autonomous vehicle, and determining a steering mode of the autonomous vehicle according to the minimum turning radius of the autonomous vehicle and the width of the lane. If the minimum turning radius is larger than the width of the lane, supporting the body of the automatic driving vehicle to the ground, and controlling the body of the automatic driving vehicle to rotate by a set angle after the automatic driving vehicle is lifted off the ground; and if the minimum turning radius is smaller than or equal to the width of the lane, controlling the automatic driving vehicle to normally steer.
Fig. 7 is a specific flowchart of a steering method of an autonomous vehicle according to an embodiment of the present invention, where the steering method of the autonomous vehicle may also be performed by the autonomous vehicle according to the embodiment, and as shown in fig. 7, the steering method of the autonomous vehicle includes:
and S210, starting.
And S220, acquiring a real scene map of the position of the automatic driving vehicle.
And S230, acquiring the width of the lane where the automatic driving vehicle is located according to the live-action map.
And S240, acquiring the minimum turning radius of the automatic driving vehicle.
S250, judging whether the minimum turning radius of the automatic driving vehicle is larger than the width of a lane or not; if yes, go to step 260; if not, go to step 270.
And S260, supporting the body of the automatic driving vehicle from the ground, and controlling the body of the automatic driving vehicle after the automatic driving vehicle leaves the ground to rotate for a set angle.
And S270, controlling the automatic driving vehicle to normally steer.
And controlling the automatic driving vehicle to normally steer, namely, relating to a steering control component to enable the automatic driving vehicle to steer by being attached to the ground.
The embodiment of the invention provides a relatively efficient steering system of an automatic driving vehicle on a narrow road, which is beneficial to reducing the difficulty of algorithm development of the automatic driving vehicle, solving the problem that the automatic driving vehicle cannot steer on the narrow road, reducing the requirement of the automatic driving vehicle on the surrounding environment for realizing steering, improving the driving stability of the automatic driving vehicle and also improving the universality of the application scene of the automatic driving vehicle.
Those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (11)
1. An autonomous vehicle, comprising:
the automatic steering device comprises a vehicle body and a steering control component, wherein the steering control component is used for supporting the vehicle body of the automatic driving vehicle to be lifted off the ground and driving the vehicle body of the automatic driving vehicle to rotate by a set angle after the automatic driving vehicle is lifted off the ground.
2. The autonomous-capable vehicle of claim 1, wherein the steering control component comprises:
the lifting component can lift in the direction vertical to the ground, and is used for supporting the vehicle body to lift off the ground;
the rotating component is used for driving the vehicle body to rotate in situ by a set angle after the vehicle body leaves the ground.
3. The autonomous-capable vehicle of claim 2, wherein the rotating member is fixedly connected with the vehicle body, and the rotating member rotates to drive the vehicle body to rotate in place by a set angle after being lifted off the ground;
the lifting component can be telescopic relative to the rotating component, and the lifting component can extend out of the rotating component to support the vehicle body to lift off.
4. The autonomous-capable vehicle of claim 2 or 3, wherein the steering control component further includes:
and the ground supporting end of the lifting component is fixedly connected with the supporting chassis.
5. The autonomous-capable vehicle of claim 4, wherein the rotating member is fixed to an interior of the vehicle body, and the elevation member and the support chassis are receivable into the interior of the vehicle body.
6. The autonomous-capable vehicle of any one of claims 1-5, wherein the steering control member is mounted to a bottom of the vehicle body, and the steering control member is mounted corresponding to a position of a center of gravity of the autonomous-capable vehicle.
7. The autonomous-capable vehicle of claim 1, further comprising:
the positioning component is used for acquiring the position of the automatic driving vehicle and acquiring a real scene map of the position of the automatic driving vehicle according to the position;
and the starting control component is used for determining whether to start the steering control component according to the received live-action map.
8. The autonomous-capable vehicle of claim 1, further comprising:
an obstacle detection unit mounted on the vehicle body for detecting whether an obstacle exists around the vehicle body of the autonomous vehicle;
and the starting control part is used for determining whether to start the steering control part according to the obstacle detection result.
9. The autonomous-capable vehicle of claim 1, further comprising:
an obstacle detection unit mounted on the vehicle body, for detecting whether an obstacle is present in a traveling direction of the autonomous vehicle, and determining whether the autonomous vehicle can pass through the obstacle;
and the starting control part is used for determining whether to start the steering control part according to the judgment result of the obstacle.
10. A steering method for an autonomous vehicle, comprising:
supporting a body of the autonomous vehicle off ground;
and controlling the body of the automatic driving vehicle to rotate by a set angle after the automatic driving vehicle leaves the ground.
11. The steering method of an autonomous vehicle according to claim 10, further comprising, before controlling the steering control member to support a vehicle body of the autonomous vehicle from the ground:
acquiring a live-action map of the position of the automatic driving vehicle;
acquiring the width of a lane where the automatic driving vehicle is located currently according to the live-action map;
obtaining a minimum turning radius of the autonomous vehicle;
determining a steering mode of the autonomous vehicle according to the minimum turning radius of the autonomous vehicle and the width of the lane;
if the minimum turning radius is larger than the width of the lane, supporting the body of the automatic driving vehicle to lift off the ground, and controlling the body of the automatic driving vehicle to rotate by a set angle after the automatic driving vehicle lifts off the ground;
and if the minimum turning radius is smaller than or equal to the width of the lane, controlling the automatic driving vehicle to normally steer.
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Application publication date: 20200714 |