The invention relates to a vehicle obstacle avoidance method and device, a medium and a vehicle, and belongs to the technical field of vehicle control. The method comprises the steps that the first vehicle speed of the vehicle and the predicted track of a target obstacle vehicle are obtained, and the target obstacle vehicle is the obstacle vehicle predicted by the vehicle and about to cut into a lane where the vehicle is located; determining a compensation vehicle distance between the vehicle and the target obstacle vehicle according to the first vehicle speed and the predicted trajectory; according to the compensation vehicle distance, the actual vehicle distance between the vehicle and the target obstacle vehicle and the preset vehicle following distance, the vehicle speed change interval of the vehicle is obtained; and determining a target acceleration of the vehicle according to the vehicle speed change interval, and controlling the vehicle speed of the vehicle according to the target acceleration. The obtained target acceleration for controlling the speed of the vehicle is more reasonable, the conditions of unreasonable deceleration and rapid deceleration are avoided, the riding experience of a driver and passengers is improved on the premise that the safety of the vehicle is guaranteed, and meanwhile the risk that the vehicle is subjected to rear-end collision is reduced when another vehicle close to the rear of the vehicle is located behind the vehicle.
本公开涉及一种属于车辆控制技术领域的车辆避障方法、装置、介质及车辆,包括获取车辆的第一车速以及目标障碍车的预测轨迹,目标障碍车是车辆所预测的即将切入车辆所在车道的障碍车;根据第一车速以及预测轨迹,确定车辆与目标障碍车之间的补偿车距;根据补偿车距、车辆与目标障碍车之间的实际车距以及预设的跟车距离,得到车辆的车速变化区间;根据车速变化区间,确定车辆的目标加速度,并根据目标加速度控制车辆的车速。得到的用于控制车辆车速的目标加速度会更合理,避免了不合理的减速和急减速的情况,在保证车辆安全的前提下,增加了驾乘人员的乘坐体验感,同时在车辆后方有距离较近的另一车辆时,减小了车辆被追尾的风险。
Vehicle obstacle avoidance method and device, medium and vehicle
车辆避障方法、装置、介质及车辆
2022-12-27
Patent
Elektronische Ressource
Chinesisch
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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