基于状态流的自动驾驶超车控制  

Overtaking Control by Stateflow in Autonomous Driving

作　　者：李秋晨 孙鹏飞 Li Qiuchen;Sun Pengfei(Beijing New Energy Vehicle Technology Innovation Center Co.,Ltd.,Beijing 100176)

机构地区：[1]北京新能源汽车技术创新中心有限公司,北京100176

出　　处：《汽车实用技术》2021年第8期21-23,42,共4页Automobile Applied Technology

摘　　要：在自动驾驶中,交通规则是安全和避免事故发生的保证。现在高级驾驶员发生的交通事故数量有逐渐上升的趋势。然而,交通规则中的逻辑往往由法律文本抽象地表达。文章用状态流实现了上述逻辑。首先采用二值分类法对驾驶员的数据进行处理,判断超车条件。然后建立地图数据库,连接Matlab获取交通规则许可。其中双目摄像头用于获取车辆与障碍物的距离。结果表明,上述逻辑适用于超车场景,并可推广到其他交通规则。In the autonomous driving, traffic rules are the guarantee of safety and avoiding accidents. Nowadays the number of accidents of senior drivers tend to climb gradually. However, the traffic rules from legal text are written in natural language and are often abstract. In this paper, the logics are implemented in Stateflow. Use binary classification to deal with the data of human drivers, judging the condition to overtake. Then set up the map database and connect Matlab to get the traffic rule permit. Binocular camera is used to get the distance from the obstacle. The result shows that the logic is suit for overtaking and extends to other traffic rules.

关 键 词：自动驾驶 交通规则 超车 二值分类 

分 类 号：U471[机械工程—车辆工程]