The embodiment of the invention discloses an obstacle avoidance method and device for an automatic driving vehicle and the vehicle. A road condition of a main lane where an automatic driving vehicle is located is acquired; the road condition satisfies the following conditions: the road condition reflects that an obstacle exists on the main lane, furthermore, when no obstacle exists in a first preset range on at least one lane adjacent to the main lane, a target lane for obstacle avoidance and a first target position on the target lane are determined based on the road condition, based on the determined target lane and the first target position, a first-stage obstacle avoidance instruction is generated and sent to a controller, so that the controller of the vehicle controls the vehicle to start a first-stage obstacle avoidance operation, specifically, the vehicle is controlled to be driven to the first target position on the target lane at a first speed. Thus, after the vehicle is judgedto meet the obstacle avoidance condition, the effective obstacle avoidance strategy is automatically adopted, flexible and effective obstacle avoidance of the automatic driving vehicle is realized, and the safety and reliability of automatic driving are improved.

    本发明实施例公开了一种自动驾驶车辆的避障方法、装置及车辆,通过获取自动驾驶车辆所在主车道的道路状况,并在该道路状况满足:该道路状况反映主车道上存在障碍物,且,与该主车道相邻的至少一条车道上第一预设范围内无障碍物时,才基于该道路状况确定用于避障的目标车道和该目标车道上的第一目标位置,再基于所确定的该目标车道和第一目标位置,生成并向控制器发送第一阶段避障指令,以便该车辆的控制器控制该车辆开始第一阶段避障操作,具体为控制该车辆以第一速度驾驶到目标车道上的第一目标位置。这样,在判断车辆满足避障条件后,才自动采取有效应对的避障策略,实现自动驾驶车辆灵活、有效的避障,提高自动驾驶的安全性和可靠性。


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    Title :

    Obstacle avoidance method and device for automatic driving vehicle and vehicle


    Additional title:

    一种自动驾驶车辆的避障方法、装置和车辆


    Contributors:
    WANG YONGPING (author) / HE YEJIA (author) / HUANG KEXI (author) / DU XUEJIN (author)

    Publication date :

    2020-10-30


    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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