Method and apparatus for controlling vehicle driving

An apparatus for controlling vehicle driving, comprising:

• at least one processor;
• and
• a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
• generating a global path of a driving site of a vehicle;
• executing following controlling:
• generating a local path of a site in front of a current position of the vehicle based on the global path, the local path following a direction of the global path, controlling the vehicle to drive along the local path until reaching an end point of the local path, determining whether the vehicle reaches an end point of the global path, and terminating the controlling in response to determining the vehicle reaching the end point of the global path;
• and
• continuing, in response to determining the vehicle failing to reach the end point of the global path, executing the controlling,
• wherein controlling the vehicle to drive along the local path until reaching an end point of the local path comprises:
• determining a speed sequence of a chassis of the vehicle for driving along the local path, and a current speed in the speed sequence;
• acquiring a current road haul of the chassis from a chassis odometer of the vehicle in real time, and determining whether the chassis deviates from the local path based on the acquired current road haul and the current speed;
• and
• in response to determining that the chassis deviates from the local path, controlling steering and displacement of the chassis based on the current speed until the chassis returns to the local path.

A non-transitory computer readable medium, storing a computer program thereon, wherein the computer program, when executed by a processor, causes the processor to perform operations, the operations comprising:

• generating a global path of a driving site of a vehicle;
• executing following controlling:
• generating a local path of a site in front of a current position of the vehicle based on the global path, the local path following a direction of the global path, controlling the vehicle to drive along the local path until reaching an end point of the local path, determining whether the vehicle reaches an end point of the global path, and terminating the controlling in response to determining the vehicle reaching the end point of the global path;
• and
• continuing, in response to determining the vehicle failing to reach the end point of the global path, executing the controlling,
• wherein controlling the vehicle to drive along the local path until reaching an end point of the local path comprises:
• determining a speed sequence of a chassis of the vehicle for driving along the local path, and a current speed in the speed sequence;
• acquiring a current road haul of the chassis from a chassis odometer of the vehicle in real time, and determining whether the chassis deviates from the local path based on the acquired current road haul and the current speed;
• and
• in response to determining that the chassis deviates from the local path, controlling steering and displacement of the chassis based on the current speed until the chassis returns to the local path.