The invention discloses an obstacle avoidance system and method for an automatic driving vehicle in the technical field of automatic driving. The obstacle avoidance system comprises an obstacle detection module used for acquiring obstacle information in a set range around the vehicle; the obstacle avoidance judgment module analyzes whether an obstacle exists on the vehicle tracking path or not according to the obstacle detection module, and if not, the vehicle continues to run according to the tracking path; if the obstacle exists, carrying out obstacle avoidance path planning; the path planning module is used for obtaining an obstacle avoidance mode of vehicle deceleration, acceleration or lane change according to the vehicle obstacle information; the acceleration and deceleration control module is used for judging whether the vehicle has acceleration and deceleration dangers according to front or rear obstacle information; if not, acceleration and deceleration are carried out, if yes, acceleration and deceleration of the vehicle are forbidden, a lane changing control module is started, and the lane changing control module is used for judging whether the vehicle has lane changing danger or not according to side obstacle information in the lane changing direction; if not, lane changing is carried out, and if yes, lane changing of the vehicle is forbidden, and a vehicle protection system is started.

    本发明公开了自动驾驶技术领域的一种自动驾驶车辆的避障系统及方法,包括障碍物检测模块用于获取车辆周围设定范围内障碍物信息;避障判断模块根据障碍物检测模块解析车辆循迹路径上是否存在障碍物,若不存在障碍物,按照循迹路径继续行驶;若有障碍物,则进行避障路径规划;路径规划模块用于根据车辆障碍物信息得到车辆减速、加速或者换道的避障模式;加减速控制模块用于根据前方或者后方障碍物信息判断车辆是否存在加减速危险;若不存在,则进行加减速,若存在,禁止车辆加减速,并启动换道控制模块,换道控制模块用于根据换道方向的侧方障碍物信息判断车辆是否存在换道危险;若不存在,则进行换道,若存在,禁止车辆换道,并启动车辆保护系统。


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    Titel :

    Obstacle avoidance system and method for autonomous vehicle


    Weitere Titelangaben:

    一种自动驾驶车辆的避障系统及方法


    Beteiligte:
    MOU HONGLEI (Autor:in) / MENG YANG (Autor:in) / TIAN LEI (Autor:in) / LIU JINGJING (Autor:in) / WANG SHUOSHI (Autor:in) / DAI YUXIAN (Autor:in) / SUN ZHENJIANG (Autor:in)

    Erscheinungsdatum :

    2022-12-06


    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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