The invention provides an obstacle avoidance trajectory planning method and system and a vehicle. According to the method, three-element data comprising the two distance values between a dynamic obstacle and a preset track point on a first candidate track of a vehicle and the synthetic speed factor between the dynamic obstacle and the vehicle are comprehensively considered; then a threat value calculated by a preset avoidance model is inputted; by means of the method, whether the vehicle collides with the dynamic obstacle at the preset track point or not can be accurately judged, so that the first candidate track corresponding to the collided preset track point can be screened out, and a safe and reasonable second candidate track capable of adapting to complex actual traffic conditions ofomnibearing/dynamic/multi-moving obstacles is obtained.

    本发明提供了一种避障轨迹规划方法、系统及车辆,应用于车辆,其中,所述方法综合考虑了动态障碍物与车辆第一候选轨迹上预设轨迹点之间的两个距离值、以及动态障碍物与车辆之间的合成速度因素的三元素数据,输入预设规避模型计算得到的威胁值,可以准确判断车辆是否会在上述预设轨迹点处与动态障碍物发生碰撞,由此可以将发生碰撞的预设轨迹点对应的第一候选轨迹筛除,从而得到安全、合理且可以适应全方位/动态/多移动障碍物的复杂实际交通工况的第二候选轨迹。


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    Title :

    Obstacle avoidance trajectory planning method and system and vehicle


    Additional title:

    一种避障轨迹规划方法、系统及车辆


    Contributors:
    ZHANG KAI (author) / BIN YANG (author) / CUI JIAXING (author) / HAN YUEQI (author) / XIAO MENGFEI (author) / LIU HONGWEI (author) / ZHEN LONGBAO (author) / GE JIANYONG (author) / LI WEI (author)

    Publication date :

    2020-08-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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