The invention relates to a simulation vehicle obstacle avoidance driving method based on road data, and belongs to the technical field of automatic driving. The method is characterized in that ray detection is used, rays are emitted from the middle point of a vehicle and the two sides of the vehicle to detect whether obstacles exist in front of the vehicle or not, whether obstacles exist in laneson the two sides of the vehicle or not is detected in advance, a proper point can be calculated as a target point during obstacle avoidance, and driving detection and obstacle avoidance behaviors of areal vehicle can be achieved in a simulated mode. According to the method, the rays are used as obstacle detection means, so that the performance consumption is extremely low, and lane changing can be achieved according to traffic rules; and the safety distance is set according to speed, and the time for lane changing is judged, so that most obstacle avoidance requirements of the simulation vehicle are met.

    本发明涉及一种基于道路数据的仿真车避开障碍行驶的方法,属于自动驾驶技术领域。该方法使用了射线检测,从车中点和车两侧各射出射线检测前方是否有障碍,并且提前在车辆两边车道检测是否有障碍,避障时也能算出合适的点作为目标点,能较为拟真的实现真实车辆的行车检测和避障行为。本发明使用了射线作为障碍检测的手段,不但性能消耗很低,而且能够实现按照交通规则去变道,并进一步根据速度设定安全距离,判断什么时候该变道,从而满足仿真车的大部分避障需求。


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    Titel :

    Simulation vehicle obstacle avoidance driving method based on road data


    Weitere Titelangaben:

    一种基于道路数据的仿真车避开障碍行驶的方法


    Beteiligte:
    BAO HAN (Autor:in) / ZHANG YANG (Autor:in) / CHEN CHENG (Autor:in) / LIU JIE (Autor:in)

    Erscheinungsdatum :

    2020-12-11


    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



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