CN108762269A - A kind of pilotless automobile left steering control method and device - Google Patents
A kind of pilotless automobile left steering control method and device Download PDFInfo
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- CN108762269A CN108762269A CN201810552202.5A CN201810552202A CN108762269A CN 108762269 A CN108762269 A CN 108762269A CN 201810552202 A CN201810552202 A CN 201810552202A CN 108762269 A CN108762269 A CN 108762269A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The embodiment of the present application discloses a kind of pilotless automobile left steering control method and device, the method includes judging that first rear of vehicle whether there is the second vehicle, the left steering track includes at least two left steering parking stalls, and at least two left steering parking stall is arranged along the extending direction in the left steering track successively；If there are the second vehicle, travelings to the first left steering parking stall left steering at least two left steering parking stall for first rear of vehicle；If the second vehicle, traveling to the second left steering parking stall left steering at least two left steering parking stall is not present in first rear of vehicle；Wherein, first left steering parking stall is located at the front of second left steering parking stall, and other vehicles are not present between first left steering parking stall and first vehicle.The scheme provided using the embodiment of the present application can efficiently reduce the stand-by period of left steering vehicle, under the premise of ensureing safety, improve the traffic efficiency at the crossing that crosses.
Description
Technical field
This application involves traffic system technical field more particularly to a kind of pilotless automobile left steering control method and dresses
It sets.
Background technology
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent automobile of predeterminated target.Specifically, it is to perceive vehicle-periphery using onboard sensor, and according to sense
Know obtained road, vehicle location and obstacle information, control steering and the speed of vehicle, to enable the vehicle to safety,
Reliably travelled on road.
In entire traffic system, it will usually exist the T-shaped formed by two or more interlaced road,
Cross, rice word or other increasingly complex crossings that cross.Cross crossing traffic environment it is extremely complex, it will usually there are a large amount of roads
The vehicle for weighing conflict, seriously affects safety and the traffic efficiency of entire traffic system.Equally, the traffic ring for the crossing complexity that crosses
Also huge challenge is brought to unmanned technology in border.
How to control effectively to pilotless automobile at the crossing that crosses, in favor of improving the traffic efficiency at the crossing that crosses
And safety, become urgent problem to be solved in the prior art.
Invention content
The embodiment of the present application provides a kind of pilotless automobile left steering control method and device, in favor of solving existing skill
Cross the traffic efficiency and safety issue at crossing in art.
In a first aspect, the embodiment of the present application provides a kind of pilotless automobile left steering control method, which is characterized in that
Applied to traveling to left steering track the first vehicle, the method includes：
Judge that first rear of vehicle whether there is the second vehicle, the left steering track includes at least two left steerings
Parking stall, at least two left steering parking stall are arranged along the extending direction in the left steering track successively；
If there are the second vehicle, travelings to first at least two left steering parking stall for first rear of vehicle
Left steering parking stall left steering；
If the second vehicle is not present in first rear of vehicle, travel at least two left steering parking stall
Two left steering parking stall left steerings；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering
Other vehicles are not present between parking stall and first vehicle.
Preferably, first left steering parking stall be at least two left steering parking stall in first vehicle distances
Farthest, and between first vehicle idle parking stall of other vehicles is not present.
Preferably, second left steering parking stall be at least two left steering parking stall in first vehicle distances
Nearest idle parking stall.
Second aspect, the embodiment of the present application provide a kind of pilotless automobile left steering control method, are applied to management
Center, the method includes：
Judge that the first rear of vehicle positioned at left steering track whether there is the second vehicle, the left steering track includes extremely
Few two left steering parking stalls, at least two left steering parking stall are arranged along the extending direction in the left steering track successively；
If there are the second vehicles for first rear of vehicle, controls first vehicle and travel to the left steering track
First left steering parking stall left steering；
If the second vehicle is not present in first rear of vehicle, controls first vehicle and travel to the left steering track
The second left steering parking stall left steering；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering
Other vehicles are not present between parking stall and first vehicle.
Preferably, first left steering parking stall be at least two left steering parking stall in first vehicle distances
Farthest, and between first vehicle idle parking stall of other vehicles is not present.
Preferably, second left steering parking stall be at least two left steering parking stall in first vehicle distances
Nearest idle parking stall.
The third aspect, the embodiment of the present application provide a kind of pilotless automobile left steering control device, are applied to traveling
To first vehicle in left steering track, described device includes：
Judgment module, for judging that first rear of vehicle whether there is the second vehicle, the left steering track includes
At least two left steering parking stalls, at least two left steering parking stall are arranged along the extending direction in the left steering track successively；
First left steering module, if there are the second vehicle, travelings to described at least two for first rear of vehicle
The first left steering parking stall left steering in a left steering parking stall；
Second left steering module, if for first rear of vehicle be not present the second vehicle, traveling to it is described at least
The second left steering parking stall left steering in two left steering parking stalls；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering
Other vehicles are not present between parking stall and first vehicle.
Fourth aspect, the embodiment of the present application provide a kind of pilotless automobile left steering control device, are applied to management
Center, described device include：
Judgment module, for judging that the first rear of vehicle positioned at left steering track whether there is the second vehicle, the left side
Added turning lane includes at least two left steering parking stalls, at least two left steering parking stall prolonging along the left steering track successively
Stretch direction arrangement；
First control module controls the first vehicle traveling if there are the second vehicles for first rear of vehicle
To the first left steering parking stall left steering in the left steering track；
Second control module controls the first vehicle row if the second vehicle is not present for first rear of vehicle
It sails to the second left steering parking stall left steering in the left steering track；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering
Other vehicles are not present between parking stall and first vehicle.
5th aspect, the embodiment of the present application provide a kind of automatic driving vehicle, including：
Processor；
The memory executed instruction for storing processor；
Wherein, the processor is configured as executing above-mentioned first aspect any one of them method.
6th aspect, the embodiment of the present application provide a kind of administrative center, are applied to vehicle dispatch system, including：
Processor；
The memory executed instruction for storing processor；
Wherein, the processor is configured as executing above-mentioned second aspect any one of them method.
The scheme provided using the embodiment of the present application can efficiently reduce the stand-by period of left steering vehicle, protect
Under the premise of demonstrate,proving safety, the traffic efficiency at the crossing that crosses is improved.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
The application can be limited.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and the principle together with specification for explaining the application.
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without having to pay creative labor, other drawings may also be obtained based on these drawings.
Fig. 1 is that one kind provided by the embodiments of the present application crosses crossing traffic schematic diagram of a scenario；
Fig. 2 is a kind of pilotless automobile left steering control method flow diagram provided by the embodiments of the present application；
Fig. 3 is that another kind provided by the embodiments of the present application crosses crossing traffic schematic diagram of a scenario；
Fig. 4 is that another kind provided by the embodiments of the present application crosses crossing traffic schematic diagram of a scenario；
Fig. 5 is another pilotless automobile left steering control method flow diagram provided by the embodiments of the present application；
Fig. 6 is a kind of pilotless automobile left steering controling device structure diagram provided by the embodiments of the present application；
Fig. 7 is another pilotless automobile left steering controling device structure diagram provided by the embodiments of the present application；
Fig. 8 is a kind of structural schematic diagram of automatic driving vehicle provided by the embodiments of the present application；
Fig. 9 is a kind of structural schematic diagram of administrative center provided by the embodiments of the present application.
Specific implementation mode
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of consistent device and method of some aspects be described in detail in claims, the application.
Fig. 1 is that one kind provided by the embodiments of the present application crosses crossing traffic schematic diagram of a scenario, the road as shown in Figure 1, this crosses
Mouth is the crossroad to be crossed by belt road and longitudinal road, and the road in each direction includes two-way 6 track, for example, vertical
Include track R1, R2, R3, R4, R5 and R6 to road, wherein in R1~R3, the travel direction of vehicle (illustrates from top to bottom
Direction), in R4~R6, the travel direction of vehicle is from bottom to top (diagram direction).It should be pointed out that Fig. 1 is only the application
One kind cited by embodiment crosses crossing schematic diagram of a scenario, should not be as the limitation of the application protection domain.
In R4~R6, R4 is left steering track, it is generally the case that vehicle immediately begins to a left side after being driven out to left steering track
Steering behavior (101 regions in Fig. 1), and at this time front truck can only be waited for if there are other vehicles for needing left steering at rear
After completing left steering action, then left steering behavior is carried out successively, traffic efficiency is relatively low.
Based on this, the embodiment of the present application provides a kind of pilotless automobile left steering control method, is applied to traveling extremely
First vehicle in left steering track, in the realization method, vehicle controls its behavior according to the information independence that it is detected.Fig. 2
For a kind of pilotless automobile left steering control method flow diagram provided by the embodiments of the present application, as shown in Fig. 2, it is main
Include the following steps.
Step S201：Judge that first rear of vehicle whether there is the second vehicle.
In the embodiment of the present application, it is at least two left steering parking stall of left steering lane configurations, described at least two turn left
It is arranged successively along the extending direction in the left steering track to parking stall, first vehicle is that traveling to left steering track prepares a left side
The vehicle of steering.For example, the left steering track R4 in Fig. 1 includes left steering parking stall 101,102 and 103, left steering parking stall 103
Front in left steering parking stall 102, left steering parking stall 102 are located at the front of left steering parking stall 101, in this scenario, vehicle C1
For the first vehicle.
First vehicle judges that its rear whether there is the second vehicle, that is, judges that its rear whether there is other preparation left steerings
Vehicle, in the specific implementation, the first vehicle can be detected by onboard sensor, the embodiment of the present application does not limit it
System.
Step S202：If there are the second vehicle, travelings at least two left steerings vehicle for first rear of vehicle
The first left steering parking stall left steering in position；
Step S203：If the second vehicle, traveling at least two left steering is not present in first rear of vehicle
The second left steering parking stall left steering in parking stall.
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering
Other vehicles are not present between parking stall and first vehicle.Specifically, if the rear of the first vehicle is there are the second vehicle,
Then traveling is to the first left steering parking stall left steering, to facilitate the second vehicle left steering at its rear；If the first rear of vehicle is not
There are the second vehicles, then the second parking stall left steering nearby can be selected, to reduce operating range.
In one possible implementation, first left steering parking stall be at least two left steering parking stall in
First vehicle distances are farthest, and the idle parking stall of other vehicles is not present between first vehicle；Described second is left
Turn to the idle parking stall that parking stall is nearest with first vehicle distances at least two left steering parking stall.
By taking application scenarios shown in FIG. 1 as an example, the first vehicle C1 has found that there are the second vehicles at its rear before left steering
C2 then travels in order to avoid influencing the second vehicle C2 left steerings to the first left steering parking stall left steering, left steering parking stall herein
103 be the first left steering parking stall.
Fig. 3 is that another kind provided by the embodiments of the present application crosses crossing traffic schematic diagram of a scenario, with applied field shown in Fig. 3
For scape, the first vehicle C1 has found that there are the second vehicle C2 at its rear, in order to avoid influencing the second vehicle C2 before left steering
Left steering is then travelled to the first left steering parking stall left steering.Since there are vehicles for left steering parking stall 103 at this time, i.e., it is not idle
Parking stall, then left steering parking stall 102 is the first left steering parking stall.
Fig. 4 is that another kind provided by the embodiments of the present application crosses crossing traffic schematic diagram of a scenario, with applied field shown in Fig. 4
For scape, the first vehicle C1 has found that there are the second vehicle C2 at its rear, in order to avoid influencing the second vehicle C2 before left steering
Left steering is then travelled to the first left steering parking stall left steering.Although left steering parking stall 103 is in idle condition at this time, by
Left steering parking stall 102 between the first vehicle C1 and left steering parking stall 103 there are other vehicles, the first vehicle C1 inconveniences across
More, therefore, it regard left steering parking stall 101 as the first left steering parking stall at this time.
It should be pointed out that when meet the left steering parking stall of left steering condition only there are one when, such as shown in Fig. 4 answer
With in scene, only left steering parking stall 101 meets left steering condition, then the left steering parking stall had not only been the first left steering parking stall, but also
For the second left steering parking stall.
The method provided using the embodiment of the present application can efficiently reduce the stand-by period of left steering vehicle, protect
Under the premise of demonstrate,proving safety, the traffic efficiency at the crossing that crosses is improved.
In the above-described embodiments, vehicle voluntarily controls by the left steering behavior of vehicle.In another application scenarios, by
Administrative center carries out United Dispatching and control with the vehicle behavior in entire traffic system.
Fig. 5 is another pilotless automobile left steering control method flow diagram provided by the embodiments of the present application, should
Method is applied to administrative center, as shown in figure 5, it is mainly included the following steps that.
Step S501：Judge that the first rear of vehicle positioned at left steering track whether there is the second vehicle, the left steering
Track includes at least two left steering parking stalls, and at least two left steering parking stall is successively along the extension side in the left steering track
To arrangement
Step S502：If there are the second vehicles for first rear of vehicle, controls first vehicle and travel to the left side
First left steering parking stall left steering of added turning lane；
Step S503：If the second vehicle is not present in first rear of vehicle, controls first vehicle and travel to described
The second left steering parking stall left steering in left steering track；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering
Other vehicles are not present between parking stall and first vehicle.
In a kind of alternative embodiment, first left steering parking stall be at least two left steering parking stall in it is described
First vehicle distances are farthest, and the idle parking stall of other vehicles is not present between first vehicle；Second left steering
Parking stall is the idle parking stall with first vehicle distances recently at least two left steering parking stall.
The method provided using the embodiment of the present application can efficiently reduce the stand-by period of left steering vehicle, protect
Under the premise of demonstrate,proving safety, the traffic efficiency at the crossing that crosses is improved.
On the basis of above method embodiment, present invention also provides a kind of device embodiments.Fig. 6 is implemented for the application
A kind of pilotless automobile left steering controling device structure diagram that example provides, the device are applied to traveling to left steering track
The first vehicle, as shown in fig. 6, described device includes：
Judgment module 601, for judging that first rear of vehicle whether there is the second vehicle, the left steering track packet
At least two left steering parking stalls are included, at least two left steering parking stall is arranged along the extending direction in the left steering track successively
Row；
First left steering module 602, if for first rear of vehicle exist the second vehicle, travel to it is described at least
The first left steering parking stall left steering in two left steering parking stalls；
Second left steering module 603, if for first rear of vehicle be not present the second vehicle, traveling to it is described extremely
The second left steering parking stall left steering in few two left steering parking stalls；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering
Other vehicles are not present between parking stall and first vehicle.
Fig. 7 is another pilotless automobile left steering controling device structure diagram provided by the embodiments of the present application, should
Device is applied to administrative center, as shown in fig. 7, described device includes：
Judgment module 701, it is described for judging that the first rear of vehicle positioned at left steering track whether there is the second vehicle
Left steering track includes at least two left steering parking stalls, and at least two left steering parking stall is successively along the left steering track
Extending direction arranges；
First control module 702 controls the first vehicle row if there are the second vehicles for first rear of vehicle
It sails to the first left steering parking stall left steering in the left steering track；
Second control module 703 controls first vehicle if the second vehicle is not present for first rear of vehicle
It travels to the second left steering parking stall left steering in the left steering track；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering
Other vehicles are not present between parking stall and first vehicle.
Corresponding with above-described embodiment, present invention also provides a kind of automatic driving vehicles.Fig. 8 carries for the embodiment of the present application
The structural schematic diagram of a kind of automatic driving vehicle supplied, as shown in figure 8, the automatic driving vehicle 800 may include：Processor
801, memory 802 and communication unit 803.These components are communicated by one or more bus, those skilled in the art
It is appreciated that the structure of server shown in figure does not constitute the restriction to the application, it either busbar network,
It can be hub-and-spoke configuration, can also include either combining certain components or different portions than illustrating more or fewer components
Part is arranged.
Wherein, the communication unit 803, for establishing communication channel, to allow the storage device to be set with other
It is standby to be communicated.Receive the user data or send user data to other equipment that other equipment hair is.
The processor 801 is the control centre of storage device, utilizes various interfaces and the entire electronic equipment of connection
Various pieces, by running or execute the software program and/or module that are stored in memory 802, and call and be stored in
Data in memory, to execute the various functions and/or processing data of electronic equipment.The processor can be by integrated circuit
(Integrated Circuit, abbreviation IC) is formed, such as the IC that can be encapsulated by single is formed, can also be by more of connection
The encapsulation IC of identical function or different function and form.For example, processor 801 can only include central processing unit
(Central Processing Unit, abbreviation CPU).In the application embodiment, CPU can be single operation core, also may be used
To include multioperation core.
The memory 802, for storing executing instruction for processor 801, memory 802 can be by any kind of easy
The property lost or non-volatile memory device or combination thereof are realized, such as static RAM (SRAM), electric erasable
Programmable read only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory
(PROM), read-only memory (ROM), magnetic memory, flash memory, disk or CD.
When executing instruction in memory 802 is executed by processor 801 so that automatic driving vehicle 800 is able to carry out
In the above method the step of automatic driving vehicle side.
Corresponding with above-described embodiment, present invention also provides a kind of administrative centers.Fig. 9 is provided by the embodiments of the present application
A kind of structural schematic diagram of administrative center, as shown in figure 9, the administrative center 900 may include：Processor 901, memory
902 and communication unit 903.These components are communicated by one or more bus, it will be understood by those skilled in the art that figure
Shown in the structure of server do not constitute the restriction to the application, it, either busbar network, can also be star-like
Structure can also include either combining certain components or different components arrangement than illustrating more or fewer components.
Wherein, the communication unit 903, for establishing communication channel, to allow the storage device to be set with other
It is standby to be communicated.Receive the user data or send user data to other equipment that other equipment hair is.
The processor 901 is the control centre of storage device, utilizes various interfaces and the entire electronic equipment of connection
Various pieces, by running or execute the software program and/or module that are stored in memory 902, and call and be stored in
Data in memory, to execute the various functions and/or processing data of electronic equipment.The processor can be by integrated circuit
(Integrated Circuit, abbreviation IC) is formed, such as the IC that can be encapsulated by single is formed, can also be by more of connection
The encapsulation IC of identical function or different function and form.For example, processor 901 can only include central processing unit
(Central Processing Unit, abbreviation CPU).In the application embodiment, CPU can be single operation core, also may be used
To include multioperation core.
The memory 902, for storing executing instruction for processor 901, memory 902 can be by any kind of easy
The property lost or non-volatile memory device or combination thereof are realized, such as static RAM (SRAM), electric erasable
Programmable read only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory
(PROM), read-only memory (ROM), magnetic memory, flash memory, disk or CD.
When executing instruction in memory 902 is executed by processor 901 so that administrative center 900 is able to carry out above-mentioned
The step of central side is managed in method.
In the specific implementation, the application also provides a kind of computer storage media, wherein the computer storage media can store
There is program, step that some or all of which may include when executing in each embodiment of method of calling provided by the present application.Institute
The storage medium stated can be magnetic disc, CD, read-only memory (English：Read-only memory, referred to as：ROM) or with
Machine storage memory (English：Random access memory, referred to as：RAM) etc..
It is required that those skilled in the art can be understood that the technology in the embodiment of the present application can add by software
The mode of general hardware platform realize.Based on this understanding, the technical solution in the embodiment of the present application substantially or
Say that the part that contributes to existing technology can be expressed in the form of software products, which can deposit
Storage is in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are used so that computer equipment (can be with
Be personal computer, server either network equipment etc.) execute certain part institutes of each embodiment of the application or embodiment
The method stated.
The same or similar parts between the embodiments can be referred to each other in this specification.Implement especially for device
For example and terminal embodiment, since it is substantially similar to the method embodiment, so description is fairly simple, related place referring to
Explanation in embodiment of the method.
Claims (8)
1. a kind of pilotless automobile left steering control method, which is characterized in that be applied to traveling to the first of left steering track
Vehicle, the method includes：
Judge that first rear of vehicle whether there is the second vehicle, the left steering track includes at least two left steering vehicles
Position, at least two left steering parking stall are arranged along the extending direction in the left steering track successively；
If there are the second vehicles for first rear of vehicle, travel to first at least two left steering parking stall
To parking stall left steering；
If the second vehicle is not present in first rear of vehicle, travel left to second at least two left steering parking stall
Turn to parking stall left steering；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering parking stall
Other vehicles are not present between first vehicle.
2. according to the method described in claim 1, it is characterized in that, first left steering parking stall is at least two left-hand rotation
It is farthest with first vehicle distances into parking stall, and there is no the idle parking stalls of other vehicles between first vehicle.
3. method according to claim 1 or 2, which is characterized in that second left steering parking stall is described at least two
The idle parking stall nearest with first vehicle distances in left steering parking stall.
4. a kind of pilotless automobile left steering control method, which is characterized in that it is applied to administrative center, the method includes：
Judge that the first rear of vehicle positioned at left steering track whether there is the second vehicle, the left steering track includes at least two
A left steering parking stall, at least two left steering parking stall are arranged along the extending direction in the left steering track successively；
If there are the second vehicles for first rear of vehicle, controls first vehicle and travel to the first of the left steering track
Left steering parking stall left steering；
If the second vehicle is not present in first rear of vehicle, controls first vehicle and travel to the of the left steering track
Two left steering parking stall left steerings；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering parking stall
Other vehicles are not present between first vehicle.
5. according to the method described in claim 4, it is characterized in that, first left steering parking stall is at least two left-hand rotation
It is farthest with first vehicle distances into parking stall, and there is no the idle parking stalls of other vehicles between first vehicle.
6. method according to claim 4 or 5, which is characterized in that second left steering parking stall is described at least two
The idle parking stall nearest with first vehicle distances in left steering parking stall.
7. a kind of pilotless automobile left steering control device, which is characterized in that be applied to traveling to the first of left steering track
Vehicle, described device include：
Judgment module, for judging that first rear of vehicle whether there is the second vehicle, the left steering track includes at least
Two left steering parking stalls, at least two left steering parking stall are arranged along the extending direction in the left steering track successively；
First left steering module, if there are the second vehicle, travelings at least two left side for first rear of vehicle
Turn to the first left steering parking stall left steering in parking stall；
Second left steering module, if the second vehicle, traveling to described at least two is not present for first rear of vehicle
The second left steering parking stall left steering in left steering parking stall；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering parking stall
Other vehicles are not present between first vehicle.
8. a kind of pilotless automobile left steering control device, which is characterized in that be applied to administrative center, described device includes：
Judgment module, for judging that the first rear of vehicle positioned at left steering track whether there is the second vehicle, the left steering
Track includes at least two left steering parking stalls, and at least two left steering parking stall is successively along the extension side in the left steering track
To arrangement；
First control module controls first vehicle and travels to institute if there are the second vehicles for first rear of vehicle
State the first left steering parking stall left steering in left steering track；
Second control module, if the second vehicle is not present for first rear of vehicle, control first vehicle travel to
The second left steering parking stall left steering in the left steering track；
Wherein, first left steering parking stall is located at the front of second left steering parking stall, and first left steering parking stall
Other vehicles are not present between first vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810552202.5A CN108762269A (en) | 2018-05-31 | 2018-05-31 | A kind of pilotless automobile left steering control method and device |
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| CN201810552202.5A CN108762269A (en) | 2018-05-31 | 2018-05-31 | A kind of pilotless automobile left steering control method and device |
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