The invention discloses an automatic driving vehicle obstacle avoidance method and device, and belongs to the technical field of automatic driving. The method comprises the steps that the road right result of an automatic driving vehicle for adjacent lanes is determined, the safe distance between the automatic driving vehicle and an obstacle is calculated according to the road right result, the obstacle and the automatic driving vehicle run in the target direction, and the obstacle is located behind the automatic driving vehicle in the target direction; determining an obstacle avoidance mode of the autonomous vehicle according to a comparison result of the safe distance and an actual distance, wherein the actual distance is the distance between the autonomous vehicle and the obstacle; and controlling the autonomous vehicle to perform obstacle avoidance driving according to the obstacle avoidance mode. Compared with a method for determining the obstacle avoidance mode of the automatic driving vehicle only according to the current speed of the obstacle, the safe distance between the automatic driving vehicle and the obstacle is calculated based on the road right result of the automatic driving vehicle for the adjacent lane, the obstacle avoidance mode is determined accordingly, the probability that the automatic driving vehicle collides with the obstacle can be reduced, and safety is high.
本申请公开了自动驾驶车辆避障方法及装置,属于自动驾驶技术领域。方法包括:确定自动驾驶车辆针对相邻车道的路权结果,根据路权结果计算自动驾驶车辆与障碍物之间的安全距离,障碍物与自动驾驶车辆按照目标方向行驶,且障碍物在目标方向上位于自动驾驶车辆的后方;根据安全距离和实际距离的对比结果确定自动驾驶车辆的避障方式,实际距离为自动驾驶车辆与障碍物之间的距离;控制自动驾驶车辆按照避障方式进行避障行驶。相比于只根据障碍物的当前速度确定自动驾驶车辆的避障方式,基于自动驾驶车辆针对相邻车道的路权结果计算自动驾驶车辆与障碍物之间的安全距离,据此确定避障方式,可以降低自动驾驶车辆与障碍物发生碰撞的概率,安全性较高。
Automatic driving vehicle obstacle avoidance method and device
自动驾驶车辆避障方法及装置
2024-04-30
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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