Method and device for eliminating steady-state lateral deviation and storage medium

Patent metadata

Field	Value
Publication number	US-11447141-B2
Application number	US-202016788673-A
Country	US
Kind code	B2
Filing date	Feb 12, 2020
Priority date	Feb 22, 2019
Publication date	Sep 20, 2022
Grant date	Sep 20, 2022

Abstract

A method and a device for eliminating a steady-state lateral deviation and a storage medium are provided. The method includes: determining whether a vehicle travels on a straight road; collecting a lateral deviation value of the vehicle in a case that the vehicle travels on a straight road; determining whether the vehicle has the steady-state lateral deviation based on the collected lateral deviation value; and compensating the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value in a case that the vehicle has the steady-state lateral deviation. The vehicle has the steady-state lateral deviation may run steadily, a direction of the vehicle is more accurate, self-driving safety and efficiency are improved, the sense of leftward and rightward swaying brought by a continuous deviation rectification method in the conventional art is effectively eliminated, and self-driving stability is improved.

First claim

The invention claimed is:

1. A method for eliminating a steady-state lateral deviation of a vehicle in a self-driving mode, comprising:
determining, by a computing device implemented by circuits, whether the vehicle travels on a straight road, wherein the computing device comprises a computer-based system or a system including a processor;
collecting, by the computing device, a lateral deviation value of the vehicle in a case that the vehicle travels on a straight road;
determining, by the computing device, whether the vehicle has the steady-state lateral deviation based on whether the collected lateral deviation value is within a predetermined range, wherein the steady-state lateral deviation is caused by the vehicle itself after the vehicle enters the self-driving mode; and
compensating, by the computing device, the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value in a case that the vehicle has the steady-state lateral deviation.

2. The method of claim 1 , wherein determining, by the computing device, whether the vehicle travels on the straight road comprises:
detecting, by a detection device, a curvature of the road where the vehicle travels, a steering wheel angle of the vehicle and a velocity of the vehicle; and
determining, by the computing device, that the vehicle travels on the straight road in a case that the curvature of the road where the vehicle travels is smaller than a first predetermined value, the steering wheel angle of the vehicle is smaller than a second predetermined value and the velocity of the vehicle is greater than a third predetermined value.

3. The method of claim 2 , wherein collecting, by the computing device, the lateral deviation value of the vehicle comprises: collecting, by the computing device, the lateral deviation value of the vehicle repeatedly to obtain multiple lateral deviation values;
determining, by the computing device, that the vehicle has the steady-state lateral deviation based on whether the collected lateral deviation value is within the predetermined range comprises: calculating, by the computing device, a statistical lateral deviation value based on the collected multiple lateral deviation values, and determining, by the computing device, that the vehicle has the steady-state lateral deviation in a case that the statistical lateral deviation value is within the predetermined range; and
compensating, by the computing device, the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value comprises: compensating, by the computing device, the steady-state lateral deviation of the self driving vehicle in real time based on the statistical lateral deviation value.

4. The method of claim 2 , further comprising:
storing the steady-state lateral deviation value in a self-driving system after the steady-state lateral deviation is eliminated.

5. A non-transitory computer-readable storage medium, in which an instruction is stored, the instruction being executed by a processor to enable the processor to implement the method claim 2 .

6. The method of claim 1 , wherein determining, by the computing device, whether the vehicle has the steady-state lateral deviation based on whether the collected lateral deviation value is within the predetermined range comprises:
determining, by the computing device, that the vehicle has the steady-state lateral deviation in a case that the collected lateral deviation value is within the predetermined range.

7. The method of claim 6 , wherein collecting, by the computing device, the lateral deviation value of the vehicle comprises: collecting, by the computing device, the lateral deviation value of the vehicle repeatedly to obtain multiple lateral deviation values;
determining, by the computing device, that the vehicle has the steady-state lateral deviation based on whether the collected lateral deviation value is within the predetermined range comprises: calculating, by the computing device, a statistical lateral deviation value based on the collected multiple lateral deviation values, and determining, by the computing device, that the vehicle has the steady-state lateral deviation in a case that the statistical lateral deviation value is within the predetermined range; and
compensating, by the computing device, the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value comprises: compensating, by the computing device, the steady-state lateral deviation of the vehicle in real time based on the statistical lateral deviation value.

8. The method of claim 1 , wherein collecting, by the computing device, the lateral deviation value of the vehicle comprises: collecting, by the computing device, the lateral deviation value of the vehicle repeatedly to obtain multiple lateral deviation values;
determining, by the computing device, that the vehicle has the steady-state lateral deviation based on whether the collected lateral deviation value is within the predetermined range comprises: calculating, by the computing device, a statistical lateral deviation value based on the collected multiple lateral deviation values, and determining, by the computing device, that the vehicle has the steady-state lateral deviation in a case that the statistical lateral deviation value is within the predetermined range; and
compensating, by the computing device, the steady-state lateral deviation of the vehicle in real time based on the collected lateral deviation value comprises: compensating, by the computing device, the steady-state lateral deviation of the vehicle in real time based on the statistical lateral deviation value.

9. The method of claim 8 , wherein after compensating, by the computing device, the steady-state lateral deviation of the vehicle in real time, the method further comprises:
recollecting, by the computing device, the lateral deviation value of the vehicle to determine whether the steady-state lateral deviation is eliminated;
linearly modifying, by the computing device, the statistical lateral deviation value based on a predetermined step length and compensating, by the computing device, the steady-state lateral deviation of the vehicle based on the modified statistical lateral deviation value, in response to determining that the steady-state lateral deviation is not eliminated; and
repeatedly executing, by the computing device, the step of recollecting the lateral deviation value of the vehicle until it is determined that the steady-state lateral deviation is eliminated.

10. The method of claim 1 , further comprising:
storing the steady-state lateral deviation value in a self-driving system after the steady-state lateral deviation is eliminated.

11. A non-transitory computer-readable storage medium, in which an instruction is stored, the instruction being executed by a processor to enable the processor to implement the method claim 1 .

12. A device for eliminating a steady-state lateral deviation of a in a self-driving mode, comprising:
one or more processors;
a storage device configured to store one or more programs;
wherein the one or more programs are executed by the one or more processors to enable the one or more processors to:
determine whether the vehicle travels on a straight road;
collect a lateral deviation value of the vehicle in a case that the vehicle travels on a straight road;
determine whether the vehicle has the steady-state lateral deviation based on whether the collected lateral deviation value is within a predetermined range, wherein the steady-state lateral deviation is caused by the vehicle itself after the vehicle

Assignees

• Baidu online network technology beijing co ltd
• Apollo Intelligent Driving Technology Beijing Co Ltd

Inventors

• Cui Xiao
• Guo Dingfeng
• Zhu Zhenguang

Classifications

• B60W40/105

  Speed · CPC title

• B60W2556/10

  Historical data · CPC title

• B60W2554/802

  Longitudinal distance · CPC title

• B60W2554/20

  Static objects · CPC title

• B60W2050/0075

  Automatic parameter input, automatic initialising or calibrating means · CPC title