AUTONOMOUS DRIVING SYSTEM (VERSIONS) Russian patent published in 2019 - IPC B60W40/105 B60W50/08 B60W30/00 

FIELD: control systems.

SUBSTANCE: invention relates to an autonomous driving system. Autonomous driving system comprises a trip planning unit configured to create a target track in a given coordinate system and a speed plan indicating a passage time in a control point on the target track and adjustment, speed plan when intervention is made during autonomous driving performed by means of autonomous driving control in order to instruct vehicle to move along target path according to speed plan. Interference in operation changes the braking force affecting the vehicle and the motion control unit configured to perform autonomous driving control, wherein the trip planning unit is configured to adjust, based on the actual speed and actual acceleration of the vehicle, the speed plan when the operation is being performed. Trip planning unit is configured to reconfigure the speed plan by comparing the planned speed with the actual speed and comparing the planned acceleration with the actual acceleration when the intervention is being performed.

EFFECT: independent control of vehicle movement is achieved.

4 cl, 9 dwg