The invention discloses an articulated vehicle lane changing and obstacle avoiding method. The method comprises the steps that firstly, the longitudinal speed of a vehicle, the acceleration of the vehicle, the width of the vehicle, the width of a front vehicle, the distance between the vehicle and the front vehicle and the longitudinal speed of the front vehicle are collected; step 2, establishing an obstacle avoidance section trajectory planning model, and obtaining a critical ordinate of ending of a vehicle emergency obstacle avoidance part; 3, establishing a return section track planning model by using a Bezier curve, and obtaining a track of the return section of the vehicle; 4, the safety distance between the vehicle and the front vehicle is updated; and 5, when the distance between the vehicle and the front vehicle reaches the updated safe distance between the vehicle and the front vehicle and no vehicle exists in the target lane, the vehicle changes the lane and avoids the obstacle according to the obstacle avoidance section track planning model and the return section track planning model. The method has the characteristics of improving the vehicle driving safety and shortening the obstacle avoidance distance.

    本发明公开了一种铰接式车辆变道避障方法,包括:步骤一、采集车辆的纵向速度、车辆的加速度、车辆的宽度、前车的宽度、本车与前车的距离和前车的纵向速度;步骤二、建立避障段轨迹规划模型,获取车辆紧急避障部分结束的临界纵坐标;步骤三、以贝塞尔曲线建立回正段轨迹规划模型,获得本车回正段的轨迹;步骤四、更新本车与前车之间的安全距离;步骤五、当本车与前车的距离到达车辆更新后的本车与前车之间的安全距离且目标车道无车后,车辆根据所述避障段轨迹规划模型和回正段轨迹规划模型进行变道避障。本发明具有提高车辆行驶安全性和缩短避障距离的特点。


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    Title :

    Articulated vehicle lane changing and obstacle avoiding method


    Additional title:

    一种铰接式车辆变道避障方法


    Contributors:
    ZHAO WEIQIANG (author) / SONG GUANGHAO (author) / CHEN YANG (author) / HE LEI (author)

    Publication date :

    2022-05-27


    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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