Control method and system for hill starting of automatic driving vehicle

The invention provides a control method and system for hill starting of an automatic driving vehicle, and the hill starting process of the automatic driving vehicle is divided into a parking state, a hill starting state, a slope sliding state and a normal driving state. The current state of the vehicle is judged by acquiring an existing sensor signal of the automatic driving vehicle and track information issued by the planning module in real time, and the vehicle is controlled through a vehicle control system. According to the method, the problem that the automatic driving vehicle slips on the slope in the hill starting process is solved, the automatic driving vehicle can be stably started on the slope, the practicability is wide, and the adaptability is high. 本发明提出了一种自动驾驶车辆坡道起步的控制方法及系统，将自动驾驶车辆的坡道起步过程划分为停车状态、坡道起步状态、溜坡状态和正常行驶状态，通过实时获取自动驾驶车辆现有的传感器信号和规划模块下发的轨迹信息判断车辆目前所处的状态，并通过车辆控制系统对车辆进行控制。本发明解决了自动驾驶车辆在坡道起步过程中出现的溜坡问题，使自动驾驶车辆在坡道上平稳起步，实用性广，适应性强。