高级驾驶员辅助系统、具有该系统的车辆及车辆控制方法。提供了一种车辆,该车辆能够在自主行驶模式下获取车辆前方的道路的图像;识别所获取的道路的图像上的车道线、主体车道和障碍物;基于障碍物检测器检测到的障碍物信息来确定识别出的障碍物是否处于静止状态;如果在构成主体车道的两条主体车道线中的至少一条上存在处于静止状态的障碍物,则获取障碍物与主体车道交叠的宽度;基于所获取的障碍物与主体车道交叠的宽度来确定是否要执行保持在主体车道上行驶;如果确定要执行保持在主体车道上行驶,则执行主体车道内的偏转控制以避开静止状态下的障碍物;如果确定不执行保持在主体车道上行驶,则执行偏离主体车道的控制或减速控制。

    Provided is a vehicle capable of: acquiring an image of a road in front of a vehicle in an autonomous driving mode; recognizing a lane line, a subject lane, and an obstacle on the acquired image of the road; determining whether the recognized obstacle is in a stationary state based on obstacle information detected by an obstacle detector; acquiring, if the obstacle in the stationary state exists on at least one of two subject lane lines constituting the subject lane, a width of the obstacle overlapping the subject lane; determining whether keeping of travelling on the subject lane is to be performed based on the acquired width of the obstacle overlapping the subject lane; performing a deflection control within the subject lane to avoid the obstacle in the stationary state if it is determined that the keeping of travelling on the subject lane is to be performed; and performing control of departure from the subject lane or deceleration control if it is determined that the keeping of travelling on the subject lane is not to be performed.


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    Titel :

    高级驾驶员辅助系统、具有该系统的车辆及车辆控制方法


    Erscheinungsdatum :

    2024-01-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion