{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
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  "description": "The present disclosure provides a method and an apparatus for autonomously driving a vehicle. The method includes: recognizing a centerline of a lane on which a current vehicle is driving; acquiring a lateral distance between the current vehicle and the centerline of the lane, and a real-time speed…",
  "path": "/patents/1281145",
  "publishedAt": "2021-01-14T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B62D15/021",
    "BAIDU ONLINE NETWORK TECHNOLOGY (BEIJING) CO., LTD"
  ],
  "textContent": "The present disclosure provides a method and an apparatus for autonomously driving a vehicle. The method includes: recognizing a centerline of a lane on which a current vehicle is driving; acquiring a lateral distance between the current vehicle and the centerline of the lane, and a real-time speed and a real-time motion curvature of the current vehicle; calculating the lateral distance, the real-time speed, and the real-time motion curvature, based on a preset first spiral line equation, to acquire parameters of a reference spiral line; calculating the parameters, the real-time speed, and the real-time motion curvature, based on a preset second spiral line equation, to acquire a current spiral line; and determining an steering angle instruction of a steering wheel based on a first curvature of the current spiral line; and controlling the current vehicle for autonomous driving based on the steering angle instruction.",
  "title": "METHODS, DEVICES, AND MEDIA FOR AUTONOMOUSLY DRIVING VEHICLE"
}