Bend driving control method for autonomous vehicle, device, and medium

An electronic device, comprising:

• at least one processor;
• and
• a memory communicatively connected to the at least one processor;
• wherein,
• the memory having instructions executable by the at least one processor stored thereon, and when the instructions are executed by the at least one processor, the at least one processor is caused to execute a bend driving control method for an autonomous vehicle, the method comprising:
• obtaining a size of the autonomous vehicle and a curvature of a target bend;
• and
• determining, based on the size of the autonomous vehicle and the curvature of the target bend, an occupancy width of the autonomous vehicle on the target bend when the autonomous vehicle drives on the target bend;
• detecting location information of an obstacle on the target bend;
• and
• controlling a driving route of the autonomous vehicle on the target bend based on the occupancy width and the location information of the obstacle;
• wherein obtaining the curvature of the target bend comprises:
• selecting any point on the target bend as a projection point of a corner point of the autonomous vehicle on the target bend;
• initializing the curvature of the target bend;
• determining a center position of the autonomous vehicle, a tangent direction corresponding to a driving direction of the autonomous vehicle at the target location, and location of an intersection of an edge at a corner side of the autonomous vehicle and the target bend based on a position of the target point, the curvature of the target bend at the target location and the size of the autonomous vehicle;
• determining an angle between the tangent direction and a line connecting the center position and the intersection;
• and
• updating the curvature of the target bend at the target location with the angle, and repeating the calculation of the center position, the tangent direction and the location of the intersection until a preset iteration condition is satisfied.

A non-transitory computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are configured to make a computer execute a bend driving control method for an autonomous vehicle, the method comprising:

• obtaining a size of the autonomous vehicle and a curvature of a target bend;
• and
• determining, based on the size of the autonomous vehicle and the curvature of the target bend, an occupancy width of the autonomous vehicle on the target bend when the autonomous vehicle drives on the target bend;
• detecting location information of an obstacle on the target bend;
• and
• controlling a driving route of the autonomous vehicle on the target bend based on the occupancy width and the location information of the obstacle;
• wherein obtaining the curvature of the target bend comprises:
• selecting any point on the target bend as a projection point of a corner point of the autonomous vehicle on the target bend;
• initializing the curvature of the target bend;
• determining a center position of the autonomous vehicle, a tangent direction corresponding to a driving direction of the autonomous vehicle at the target location, and location of an intersection of an edge at a corner side of the autonomous vehicle and the target bend based on a position of the target point, the curvature of the target bend at the target location and the size of the autonomous vehicle;
• determining an angle between the tangent direction and a line connecting the center position and the intersection;
• and
• updating the curvature of the target bend at the target location with the angle, and repeating the calculation of the center position, the tangent direction and the location of the intersection until a preset iteration condition is satisfied.