CN108732921A - A kind of autonomous driving vehicle, which can laterally be opened up, pre- takes aim at method for handover control - Google Patents
A kind of autonomous driving vehicle, which can laterally be opened up, pre- takes aim at method for handover control Download PDFInfo
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Abstract
It can laterally be opened up the invention discloses a kind of autonomous driving vehicle and pre- take aim at method for handover control, this method is made of upper and lower layer controller, in top level control device, choose the feature value division Region place value of the lateral position deviation and road ahead curvature value of vehicle and road axis as Region place value, correlation function is solved, vehicle-roadnet state is divided into Classical field, extension range and non-domain；In lower layer's controller, Classical field uses the PD feedback controllers based on lateral position deviation and course deviation, extension range uses the PD forward-feedback controllers based on road ahead curvature, vehicle-roadnet is in runaway condition in non-domain, take emergency braking, it is different according to vehicle-roadnet state, realize the switching control in two kinds of control strategies of Classical field and extension range.Extension control theory Successful utilization to autonomous driving vehicle crosswise joint field, is met vehicle lateral control required precision by the present invention.
Description
Technical field
The invention belongs to autonomous driving vehicle control system technical field, more particularly to a kind of theoretical based on extension control
Autonomous driving vehicle can laterally open up and pre- take aim at method for handover control.
Background technology
Intelligent vehicle crowded, traffic safety measure as current main solving road, can improve vehicle economy
Property, reduce environmental pollution.Major colleges and universities of the world and vehicle research and development centre turn on intelligent vehicle development & production, mainly
It is related to the vehicle lateral controls fields such as vehicle route tracking, track holding, vehicle lane-changing.
Vehicle lateral control refers to vehicle in along expected path driving process, passes through algorithm decision and bottom executes
The effect of device so that lateral position deviation and course deviation are small as far as possible, while vehicle should have certain stability
And driving safety.Lateral Control Algorithm used at present mainly has feedback control, Feedforward-feedback control, fuzzy control, sliding formwork
Control strategy, Single-point preview strategy, Model Predictive Control, optimum control etc..But there are many limitations for above-mentioned control method
Property, or control effect is preferable under specific operating mode, and in the case where mixing complex working condition, overall control is ineffective.
And vehicle control is a multi-input multi-output system, and also need to consider residing for vehicle in vehicle lateral control
Road environment problem so that there are many limitations for above-mentioned control method.The application is mainly for single control strategy control
The limited problem in region processed opens up theory based on what Cai Wen was proposed, and the extension control of generation can describe things "Yes" and " non-"
Mutually convert and quantitative change and qualitative change process, applied in stability control, for describe unstability and stablize between pass
System, and stability control strategy is established according to this, by the way that different control strategies is respectively adopted in Classical field and extension range, according to
The state feature of control object targetedly uses different control strategies, design a kind of autonomous driving vehicle can laterally open up it is pre-
Method for handover control is taken aim at, entire control process can be made to obtain good control effect.
Invention content
It is three regions by vehicle-roadnet state demarcation according to vehicle state in which in the road：Classical field,
Extension range, non-domain.Road curvature where vehicle is smaller in Classical field, and lateral position deviation between vehicle-to-target track
Small, entire vehicle-roadnet is stablized at this time, it is only necessary to simple feedback control；And when front road curvature becomes larger, go out
When existing small radius, the lateral position deviation between vehicle and road axis becomes larger, and entire vehicle-roadnet is lost
Steady state, the steady-state value for needing the response speed for accelerating front wheel angle and increasing front wheel angle, vehicle-roadnet are in and can open up
In domain, using PD feedforward-feedback control tactics, the time lag of simple PD feedback controls is corrected using feedforward control, accelerates response
Speed reaches satisfied control effect.
The technical scheme is that：
A kind of autonomous driving vehicle, which can laterally be opened up, pre- takes aim at method for handover control, including two parts：Upper and lower layer controller, on
Layer is extension controller, and lower layer is divided into extension range control strategy and Classical field control strategy by Region place value, and Classical field uses
PD- feedback control strategies, extension range use PD feedforward-feedback control tactics, specifically include following steps：
Top level control device：It sets up with the lateral position deviation c of vehicle and road axispFor X-axis, road axis curvature
ρ is the two-dimensional state space of Y-axis, and correlation function K (S) is determined away from principle according to that can open up, according to correlation function value by vehicle-road
System mode is divided into Classical field, extension range and non-domain；In lower layer's controller, design is based on the PD for taking aim at error in advance in Classical field
Feedback controller designs the PD forward-feedback controllers based on road ahead curvature, vehicle-road in non-domain in extension range
System is in runaway condition, takes emergency braking control；Deviation is taken aim in advance according to vehicle two degrees of freedom kinetic model, path trace
Model foundation vehicle-road condition space equation, as control object, the validity of authentication control method.
Further, the lateral position deviation epThe Region place value of vehicle-road model is formed with road axis curvature ρ
Characteristic quantity (ep, ρ).
Further, the section of the Classical field is：Lateral position deviation ep[- 0.2,0.2], road axis curvature ρ [-
0.02,0.02], the extension range section is：Lateral position deviation ep[- 10, -0.2) ∪ (0.2,10], road axis curvature
ρ [- 0.12, -0.02) ∪ (0.02,0.12].
Further, the correlation function value calculating need first by two-dimentional Region place value open up away from be converted into it is one-dimensional can
Open up away from.
Further, the correlation function is：Wherein D (P3,<P5, P2>,<P4, P1>)=ρ
(P3,<P5, P2>)-ρ(P3,<P4, P1>), ρ (P3,<P4, P1>) and ρ (P3,<P5, P2>) it is respectively point P3To Classical field and extension range
Open up away from P3For vehicle collected vehicle-road model characteristic quantity (e when drivingp, ρ) and real-time status value, P3Connect with origin
Line hands over Classical field boundary in point P1、P4, hand over extension range boundary in point P2、P5。
Further, the vehicle-road condition space equation is：
WhereinFor the course deviation of vehicle and road axis, δfFor vehicle front wheel angle,
Further, the vehicle-roadnet state demarcation is that the detailed process of Classical field, extension range and non-domain is：Choosing
Take characteristic quantity (ep, ρ) and input as extension controller, two-dimentional Region place value is established, according to real-time status value P3Residing two dimension can
The position for opening up set converts two-dimentional Region place value to one-dimensional Region place value, correlation function K (S) value is calculated, according to correlation function
Value determines the region residing for current vehicle-roadnet.
Beneficial effects of the present invention are：
(1) extension control handles control problem from information conversion angle, using control the degree of association K (S) of input information as
The foundation for determining control export control policy selection, enables to automatic driving vehicle crosswise joint object：Vehicle-roadnet
Quantity of state never zone of control is converted into stably and controllable region, broken away from dynamics of vehicle-road model complexity or control
The restriction for the factors such as method use condition is limited, improves the crosswise joint of automatic driving vehicle and the energy of Trajectory Tracking Control
Power.
(2) present invention divides the principle of state region by extension controller, and PD- feedback controls can have been made full use of to exist
The characteristics of simple, linear zone stability is good, strong robustness is controlled in classical region, while in it can open up region, vehicle-road system
Unite region it is unstable, road curvature becomes larger, at this time by forward feedback correction compensate for PD feedback controls unstable region time lag
Problem and the slow problem of corresponding speed, not only increase the response speed that control system interferes small curvature path, while
Also reduce hysteresis quality and fluctuation of the vehicle to control.
(3) present invention passes through extension control so that automatic driving vehicle has big by not only there is Chinese yeast rate road
Under curvature big corner bend COMPLEX MIXED operating mode, switching control can be realized between two kinds of control strategies so that entire control
Process obtains smaller control error.
Description of the drawings
Fig. 1, which is autonomous driving vehicle, can laterally open up and pre- take aim at method for handover control flow chart；
Fig. 2 is two degrees of freedom vehicle dynamic model figure；
Fig. 3 is laterally to take aim at buggy model figure in advance；
Fig. 4 is course deviation illustraton of model；
Fig. 5 is Region place value figure；
Fig. 6 is two-dimentional Region place value figure；
Fig. 7 is one-dimensional Region place value figure；
Fig. 8 is based on the PD feedback control control flow charts for taking aim at deviation in advance；
Fig. 9 is based on taking aim at deviation PD control device figure in advance；
Figure 10 is the feed-forward and feedback PD control device control flow chart based on road curvature；
Figure 11 is that can open up pre- horizontal coordination of taking aim to control Simulink/Carsim emulation platform figures；
Figure 12 is road axis Curvature varying curve graph；
Figure 13 is Vehicle tracing design sketch；
Figure 14 is lateral deviation figure.
Specific implementation mode
Below in conjunction with description of the drawings and specific implementation mode, specifically the present invention is further illustrated, but the present invention
Protection domain is not limited to that.
Fig. 1, which is autonomous driving vehicle, can laterally open up the pre- control flow chart for taking aim at method for handover control, wherein epIt is laterally inclined
Difference,It is road axis curvature, δ for course deviation, ρfFor vehicle front wheel angle, it will be based on this control flow G- Design below
The control method of the present invention.
Top level control device is extension controller, and main purpose is obtained in the vehicle and road that vehicle sensors acquire
The lateral position deviation e of heart linepWith road axis curvature ρ.According to the transversal discrepancy e of current vehicle and road axispWith
Vehicle lateral control state in which is divided into three regions by the curvature value ρ of road axis：It is Classical field, extension range, non-
Domain.For different vehicle lateral control states, different control strategies is respectively adopted, reach more be accurately controlled effect and
Tracking performance.
Lower layer's controller：In Classical field, road curvature is smaller, and crosswise joint, which is realized, only to be needed in small angle tower,
Desired trajectory in tracking, at this time, it is usually required mainly for lateral position deviation and lateral deviation are reduced to minimum by being to try to of solution.
And vehicle travel process is relatively stable, is not in unstable phenomenon, and control requires low, and control targe is easy to reach.Therefore, it adopts
With based on the PD feedback controls for taking aim at deviation in advance.In extension range, vehicle turn radius is smaller, and road curvature is larger,
Vehicle quick response is needed, ensures that vehicle can go to wheel on required corner in time.It is based on taking aim at deviation in advance using original
PD feedback controls larger, the response time slow problem that will appear tracking steady-state error.Therefore, under such conditions, increase base
Inhibited in the feedforward control of road ahead curvature so that vehicle front wheel angle quick response, improve control system for
The response speed of small curvature path interference, while also also reducing hysteresis quality and fluctuation of the vehicle to control.In non-domain, vehicle
- roadnet plays pendulum, it cannot accurately realize control, take emergency braking measure at this time.
The present embodiment use two degrees of freedom vehicle dynamic model, the model only consider along vehicle y-axis lateral movement and
Around the weaving of z-axis, and do following hypothesis：
(1) ignore the air drag that automobile is subject to；
(2) assume that the road surface of running car is horizontal, ground is 0 in face of the road resistance of vehicle；
(3) it is 0 that the steering angle size of hypothesis two front-wheel of automobile and two trailing wheels, which distinguishes equal and wheel camber angle,；
(4) ignore effect of steering system during Vehicular turn, directly using the wheel steering angle of front-wheel as the control of system
System input；
(5) assume that the suspension of automobile is rigid, vehicle body is not present perpendicular to the up and down motion on ground, pitch and vehicle
The inclination of body, the Motion Parallel of vehicle body is in ground；
(6) ignore the left and right offset of car mass during turning, it is believed that hanging down on the ground suffered by the wheel of the left and right sides
Histogram to holding power be equal.
It is illustrated in figure 2 vehicle two degrees of freedom kinetic model schematic diagram.It can be obtained according to Newton's second law theorem
Along y-axis resultant force ∑ FY, iEquilibrium equation and resultant moment ∑ M around z-axis directionzEquilibrium equation：
Wherein, m is vehicle mass (kg)；vx、vyRespectively vehicular longitudinal velocity, lateral velocity (ms-1)；For vehicle
Course angle (rad)；δfFor vehicle front wheel angle (rad)；IzIt is vehicle around the rotary inertia (kgm of z-axis2)；A, b is respectively vehicle
The distance between barycenter and automobile front-axle distance and rear axle (m)；k1、k2Respectively cornering stiffness (the N/ of front and rear wheel tire
rad)；ωrFor yaw rate (rad/s).
For vehicle during track following, motion process includes the translational motion and rotary motion of vehicle, and path trace is pre-
It includes laterally to take aim at buggy model and course deviation model in advance to take aim at buggy model, as shown in Figure 3 and Figure 4 respectively.
In Fig. 3,2 points of A, B is respectively vehicle rear and front end point, and C points are vehicle centroid, and D points are to take aim at a little in advance, and a, b are respectively
The distance between vehicle centroid and automobile front-axle distance and rear axle (m), L are preview distance (m), epTo take aim at lateral deviation a little in advance
(m), e is lateral position deviation (m) at vehicle centroid,For the course deviation (rad) of vehicle and road axis, c1、c2Point
Lateral position deviation (m) not between front of the car and rear end and expected path.
It can be obtained according to geometrical relationship：
Then
It is also available by Fig. 3：
Then
Abbreviation formula (6) can obtain
I.e.
Due toSo
To epDerivation can obtain：
In Fig. 4,For the course deviation of vehicle and road axis；For vehicle course angle；
For the angle of road axis tangent line and the earth abscissa.It can be obtained according to geometrical relationship：
Wherein, vehicular longitudinal velocity vx(m/s) it is constant, road axis curvature ρ (m-1) it is road axis radius of circle
Inverse, be known quantity.
Therefore have
The change rate of lateral position deviation at Vehicle tracing process barycenter between road axis is：
Due toSo
Formula (15), which is substituted into formula (10), to be obtained
Vehicle state quantity side velocity v can be obtained in abbreviationy, side accelerationYaw rateVehicular yaw
Angular accelerationWith the relationship for taking aim at parameter in buggy model in advance, i.e., model is taken aim in advance：
It is combined model is taken aim in advance with vehicle two degrees of freedom kinetic model, constitutes vehicle-road and take aim at buggy model in advance, choose
ep、 For the quantity of state of state space equation, the state space equation of vehicle-road model can be obtained
Wherein：
Upper layer extension controller is mainly used for according to current vehicle and road-center relative position and single channel center line
Curvature determines that vehicle state in which region, detailed process are as follows：
1) Characteristic Extraction
Extension control region division is corresponding with vehicle-roadnet control accuracy, tracking error, evaluates automatic Pilot vehicle
Position deviation of the most important index of crosswise joint between vehicle and road axis, and entire control system strategy
Design and road conditions it is closely related, the index of reaction Road Base this situation is road curvature, in addition, automatic driving vehicle is horizontal
To control using the Foundation of Feedforward-feedback control in road curvature this parameter, therefore, the choosing of extension controller characteristic quantity
It selects and laterally takes aim at deviation e in advancepWith road axis curvature ρ composition characteristic state S (ep, ρ).
2) Region place value divides
As shown in figure 5, establishing two-dimentional Region place value, determine that extension range takes aim at lateral deviation e in advancepMaximum allowable range (-
ep2, ep2) it is (- 10,10), maximum allowable the range (- ρ of extension range road axis curvature ρ2, ρ2) it is (- 0.12,0.12).For
Classical field, since the control strategy used is traditional PD feedback control, control ability is limited, in vehicle tracking big corner road
When the line tracking of center, satisfied control effect is not achieved, therefore the maximum allowable range of Classical field can be obtained by many experiments
When road curvature ρ reaches 0.02, lateral deviation e is taken aim in advancepReach 0.2, traditional PD control start to occur tracing deviation it is larger with
And the problem of front wheel angle response lag.Therefore, Classical field lateral deviation epMaximum allowable range (- ep1, ep1) be (- 0.2,
0.2), the maximum allowable ranging from (- ρ of road curvature ρ1, ρ1) it is (- 0.02,0.02)；So two-dimentional extendible set shown in Fig. 5
In conjunction, Classical field section is ep[- 0.2,0.2], ρ [- 0.02,0.02]；Extension range section is ep[- 10, -0.2) ∪ (0.2,
10], ρ [- 0.12, -0.02) ∪ (0.02,0.12].
3) calculation of relationship degree
The characteristic quantity that traditional extension controller is chosen is deviation and deviation differential, and the present embodiment selection takes aim at lateral deviation e in advancep
With the road curvature ρ amounts of being characterized, needs the extension theory proposed according to Cai Wen calculating that can open up away from correlation function value is determined, such as scheme
6 show two-dimentional Region place value.
In two-dimentional Region place value, origin (0,0) is characterized the optimum point of state.Assuming that there are a point P in extension range3, P3
For current vehicle-roadnet state in which, origin and P are connected3Point obtains P3Approach the shortest distance of optimum point (0,0) |
OP3|.Straight line hands over Classical field boundary in P where the line segment1And P4Point hands over extension range boundary in P2And P5Point.Ensureing P3It levels off to
Under the shortest precondition of initial point distance, P can determine according to these intersection points3With extension range, the minimum distance of Classical field.
In one-dimensional Region place value, it can open up away from the minimum range substantially put to interval border, can be incited somebody to action according to this principle
Opening up away from being converted into one-dimensional open up away from as shown in Figure 7 in two-dimentional Region place value.P3Point to Classical field and extension range open up away from
Respectively ρ (P3,<P4, P1>) and ρ (P3,<P5, P2>), with ρ (P3,<P4, P1>) for, it solves as follows：
Similarly, ρ (P are acquired3,<P5, P2>) be：
Then it can determine that correlation function is：
Wherein：D(P3,<P5, P2>, < P4, P1>)=ρ (P3,<P5, P2>)-ρ(P3,<P4, P1>)。
It is used based on the PD feedback control strategies for taking aim at deviation in advance in Classical field, as shown in figure 8, for based on the PD for taking aim at deviation in advance
Control flow chart；Pre- deviation of taking aim at includes two deviations：Between lateral position deviation and vehicle course and road desired course
Course deviation.When designing PD control device, needs to adjust the two deviations simultaneously and has obtained optimal front wheel angle input so that
Not only there is smaller lateral position deviation during vehicle lateral control, also to ensure to have between vehicle and desired trajectory smaller
Course deviation；The superposition of the two bias adjustment amount, specific PD control can be realized by way of weighting summation in design
Device design structure is as shown in figure 9, KP1、KP2Ratio module coefficient in respectively two PD controls, KD1、KD2Respectively two PD controls
Differential control module coefficient in system, in addition, K1、K2For the front wheel angle δ for exporting two PD controlsfWeighting summation coefficient.
In extension range, vehicle turn radius is smaller, and road curvature is larger, needs vehicle quick response, ensure vehicle energy and
When wheel is earned on required corner.Tracking steady-state error will appear based on the PD feedback controls for taking aim at deviation in advance using original
It is larger, response time slow problem.Therefore, under such conditions, pressed down using the feedforward control based on road ahead curvature
System, the vehicle front wheel angle quick response for being not only increase the response speed that control system interferes small curvature path, together
When also also reduce hysteresis quality and fluctuation of the vehicle to control.As shown in Figure 10, it is the feed-forward and feedback PD based on road curvature
Controller control flow chart, increases the feedforward control module based on road ahead curvature ρ in figure, δ in figureffFor feedforward control mould
The front wheel angle of block output, δfbFor the front wheel angle of PD feedback control modules output, two module output valves are added to obtain most
Required front wheel angle δ eventuallyf。
So far, extension controller, Classical field PD feedback controllers and extension range PD forward-feedback controllers is completed to set
Meter constitutes entire autonomous driving vehicle laterally and can open up and pre- takes aim at method for handover control.Based on the design of above-mentioned various pieces controller,
Emulation platform is built in Smulink/Carsim, emulation platform is as shown in figure 11.Consider that destination path track is trigonometric function
Curve：The Curvature varying of Y=4sin0.1X, destination path are as shown in figure 12, and destination path curvature is input to the control built
Lateral deviation figure shown in track following figure as shown in fig. 13 that and Figure 14 can be obtained in system.
According to Figure 13 as can be seen that autonomous driving vehicle can laterally open up it is pre- take aim at method for handover control with preferable road with
Track performance, especially in the part of trigonometric function turning radius minimum, i.e., trigonometric function wave crest, at trough, can be by that can open up
Controller is switched to PD forward-feedback controllers so that vehicle accelerates the response of front wheel angle, reduces and passes through wave crest wave in vehicle
Transversal discrepancy when paddy improves tracking accuracy, this also matches with the purpose of entire Control System Design.
According to Figure 14 as can be seen that for lateral position deviation, pre- crosswise joint system of taking aim at can be opened up and pass through two kinds of control plans
Switching slightly, and lateral position deviation can be substantially reduced, peak value lateral position deviation is 0.2m, and the reduction of lateral deviation is very
Vehicle is improved in big degree in the continuous stability for crossing bend process.
Above example is merely to illustrate the design philosophy and feature of the present invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
According to equivalent variations or modification made by disclosed principle, mentality of designing, within protection scope of the present invention.
Claims (9)
1. a kind of autonomous driving vehicle can laterally be opened up and pre- take aim at method for handover control, which is characterized in that including step：Top level control
Device：It sets up with the lateral position deviation e of vehicle and road axispFor X-axis, the two-dimensional state that road axis curvature ρ is Y-axis
Space determines correlation function K (S) according to that can open up away from principle, is passed through vehicle-roadnet state demarcation according to correlation function value
Allusion quotation domain, extension range and non-domain；In lower layer's controller, designs based on the PD feedback controllers for taking aim at error in advance, can open up in Classical field
The PD forward-feedback controllers based on road ahead curvature are designed in domain；According to vehicle two degrees of freedom kinetic model, path with
Track takes aim at buggy model and establishes vehicle-road condition space equation in advance, as control object, the validity of authentication control method.
2. a kind of autonomous driving vehicle as described in claim 1 can laterally be opened up and pre- take aim at method for handover control, which is characterized in that institute
State lateral position deviation epRegion place value characteristic quantity (the e of vehicle-road model is formed with road axis curvature ρp, ρ).
3. a kind of autonomous driving vehicle as described in claim 1 can laterally be opened up and pre- take aim at method for handover control, which is characterized in that institute
The section for stating Classical field is：Lateral position deviation ep[- 0.2,0.2], road axis curvature ρ [- 0.02,0.02].
4. a kind of autonomous driving vehicle as described in claim 1 can laterally be opened up and pre- take aim at method for handover control, which is characterized in that institute
Stating extension range section is：Lateral position deviation ep[- 10, -0.2) ∪ (0.2,10], road axis curvature ρ [- 0.12, -
0.02] (0.02,0.12].
5. a kind of autonomous driving vehicle as described in claim 1 can laterally be opened up and pre- take aim at method for handover control, which is characterized in that institute
State correlation function value calculating need first by two-dimentional Region place value open up away from be converted into it is one-dimensional open up away from.
6. a kind of autonomous driving vehicle as claimed in claim 1 or 2 can laterally open up it is pre- take aim at method for handover control, feature exists
In the correlation function is：Wherein D (P3,<P5, P2>,<P4, P1>)=ρ (P3,<P5, P2>)-ρ
(P3,<P4, P1>), ρ (P3,<P4, P1>) and ρ (P3,<P5, P2>) it is respectively point P3To opening up away from P for Classical field and extension range3For
Vehicle collected vehicle-road model characteristic quantity (e when drivingp, ρ) and real-time status value, P3Classical field boundary is handed over origin line
In point P1、P4, hand over extension range boundary in point P2、P5。
7. a kind of autonomous driving vehicle as described in claim 1 can laterally be opened up and pre- take aim at method for handover control, which is characterized in that institute
Stating vehicle-road condition space equation is：WhereinFor vehicle and road
The course deviation of center line, δfFor vehicle front wheel angle,
Wherein m is vehicle mass；vxFor vehicular longitudinal velocity；For vehicle course angle；δfFor vehicle front wheel angle；IzIt is vehicle around z-axis
Rotary inertia；A, b is respectively the distance between vehicle centroid and automobile front-axle distance and rear axle；k1、k2Respectively front and rear wheel
The cornering stiffness of tire；ωrFor yaw rate.
8. a kind of autonomous driving vehicle as described in claim 1 can laterally be opened up and pre- take aim at method for handover control, which is characterized in that
Vehicle-roadnet is in runaway condition in non-domain, takes emergency braking control.
9. a kind of autonomous driving vehicle as described in claim 1 or 6 can laterally open up it is pre- take aim at method for handover control, feature exists
In the vehicle-roadnet state demarcation is that the detailed process of Classical field, extension range and non-domain is：Selected characteristic amount (ep,
ρ) as the input of extension controller, two-dimentional Region place value is established, according to real-time status value P3The position of residing two dimension Region place value
It sets, converts two-dimentional Region place value to one-dimensional Region place value, calculate correlation function K (S) value, determined according to correlation function value current
Region residing for vehicle-roadnet.
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| CN201810397219.8A CN108732921B (en) | 2018-04-28 | 2018-04-28 | Transverse extension preview switching control method for automatic driving automobile |
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