The invention relates to a vehicle lane changing and obstacle avoiding method and a vehicle. The method comprises the steps that when it is monitored that a vehicle has a lane changing demand, the lane changing interval of adjacent lanes is obtained according to the vehicle position on the adjacent lanes and the obstacle position on the current lane where the vehicle is located; according to the position of the vehicle in front of each lane changing interval and/or the position of the vehicle behind each lane changing interval, corresponding lane changing areas are determined; according to the speed information and the vehicle positions of the own vehicle and the vehicles on the adjacent lanes, speed planning curves of the own vehicle arriving at the corresponding lane changing areas are obtained respectively; and screening the lane changing intervals according to a preset screening rule, and determining a corresponding target lane changing interval in the lane changing intervals, so that the vehicle changes the lane to the corresponding target lane changing area according to the corresponding speed planning curve. According to the scheme provided by the invention, a more appropriate target lane changing interval can be actively found, and lane changing is carried out according to the corresponding speed planning curve, so that the lane changing process is safe and comfortable.

    本申请涉及一种车辆变道避障方法及车辆。该方法包括:当监测到自车存在变道需求时,根据相邻车道上的车辆位置及自车所在的当前车道上的障碍物位置,获取相邻车道的可变道间隔;根据各可变道间隔的在前车辆的位置和/或在后车辆的车辆位置,分别确定对应的变道区域;根据自车和相邻车道上的车辆的速度信息和车辆位置,分别获得自车到达对应的变道区域的速度规划曲线;根据预设筛选规则对各可变道间隔进行筛选,在各可变道间隔中确定对应的目标变道间隔,以使自车根据对应的速度规划曲线变道至对应的目标变道区域。本申请提供的方案,能够主动找到更合适的目标变道间隔,并根据对应的速度规划曲线进行变道,使得变道过程安全和舒适。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Vehicle lane changing and obstacle avoiding method and vehicle


    Weitere Titelangaben:

    车辆变道避障方法及车辆


    Beteiligte:
    ZHUANG RUHONG (Autor:in) / LI LIYUN (Autor:in) / HUANG YIWEN (Autor:in) / ZHANG HUIKANG (Autor:in) / LIAO JUNCHAN (Autor:in)

    Erscheinungsdatum :

    2023-09-01


    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



    Articulated vehicle lane changing and obstacle avoiding method

    ZHAO WEIQIANG / SONG GUANGHAO / CHEN YANG et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Method and system for planning obstacle-avoiding lane-changing trajectory of networked automobile

    LIU YUNXIANG / WANG YAO / YUAN XINXIN et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Intelligent driving lane-changing obstacle-avoiding trajectory planning and tracking control method and system

    TANG BIN / XU ZHANXIANG / JIANG HAOBIN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Obstacle avoiding device of underwater vehicle

    PARK KWANG PHIL | Europäisches Patentamt | 2019

    Freier Zugriff

    Vehicle lane changing

    KHALIFEH AHMAD / ELWART SHANE / MALONE MARK DOUGLAS et al. | Europäisches Patentamt | 2019

    Freier Zugriff