The invention provides an obstacle avoidance method based on automatic driving. The obstacle avoidance method comprises the steps of obtaining driving environment data of a driving lane of a target vehicle and driving environment data of an adjacent lane; recognizing the state of an obstacle according to the driving environment data of the driving lane; the state of the obstacle comprises a static state, an obstacle avoidance planning path is established based on a cubic Bezier curve, and the obstacle avoidance planning path comprises a collision avoidance path curve; and controlling the target vehicle to perform obstacle avoidance driving according to the obstacle avoidance planning path curve. According to the method, the Bezier curve is adopted to plan the obstacle avoidance path of the static obstacle, the method for planning the obstacle avoidance path is simple and feasible, the vehicle is easy to track, and the driving comfort and safety of the vehicle are very good. The obstacle avoidance route planning method is simple, the obstacle avoidance route planning efficiency is improved, the data processing time is shortened, and the response speed of the automatic driving vehicle to static obstacle avoidance is increased.

    本发明提供的一种基于自动驾驶的避障方法,包括:获取目标车辆行驶车道的行车环境数据和相邻车道的行车环境数据;根据行驶车道的行车环境数据识别出障碍物的状态;所述障碍物的状态包括静止状态,采用基于3次贝塞尔曲线建立避障规划路径,所述避障规划路径包括避撞路径曲线;控制目标车辆根据避障规划路径曲线进行避障行驶。该方法通过采用贝塞尔曲线对静态障碍物的避障路径进行规划,规划避障路线的方法简单可行,易于车辆跟踪,且车辆的行驶舒适性和安全性非常好。避障路线规划方法简单,提高避障路线的规划效率,减少数据处理的时间,提高了自动驾驶车辆对静态障碍物避障的反应速度。


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    Title :

    Obstacle avoidance method and system based on automatic driving


    Additional title:

    一种基于自动驾驶的避障方法及系统


    Contributors:
    DENG YI (author)

    Publication date :

    2023-01-06


    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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