The invention provides a self-driving vehicle escape method and system and a self-driving vehicle. The self-driving vehicle escape method comprises the following steps: detecting whether the self-driving vehicle can pass through the distance between a first obstacle and the boundaries on the two sides of a road or not; if all or one can pass, selecting an escape direction; judging whether a second obstacle exists between the first obstacle and the boundary of one side of the road in the escape direction or not; whether the current steering angle of the autonomous vehicle reaches the maximum value in the escape direction or not is judged; the automatic driving vehicle is rotated by a preset angle towards the escape direction, and an obstacle avoidance track is tried to be generated; if the obstacle-avoiding track is successfully generated, the automatic driving vehicle gets out of the obstacle in the obstacle-avoiding direction based on the obstacle-avoiding track; and if generation of the obstacle avoiding track fails, the automatic driving vehicle is turned by a preset angle from the current steering angle to the escape direction until the automatic driving vehicle reaches the steering limit in the escape direction. According to the invention, the automatic driving vehicle can automatically escape when encountering an obstacle.

    本发明提供一种自动驾驶车辆脱困方法、系统及自动驾驶车辆。自动驾驶车辆脱困方法包括:检测第一障碍物与道路两侧边界之间的间距是否能够通过自动驾驶车辆;若都能够或其中一个能够通过,则选择脱困方向;判断第一障碍物与脱困方向的道路一侧边界之间是否有第二障碍物;判断自动驾驶车辆的车辆当前转向角是否在脱困方向已经达到最大值;将自动驾驶车辆向所述脱困方向转预设角度,并尝试生成绕障轨迹;若生成绕障轨迹成功,则自动驾驶车辆基于绕障轨迹沿脱困方向脱困;若生成绕障轨迹失败,将自动驾驶车辆以当前转向角向脱困方向转预设角度,直至自动驾驶车辆在脱困方向达到转向极限。本发明可以使得自动驾驶车辆在遇到障碍物时能够实现自动脱困。


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    Title :

    Self-driving vehicle out-of-trap method and system and self-driving vehicle


    Additional title:

    自动驾驶车辆脱困方法、系统及自动驾驶车辆


    Contributors:
    CHEN HAIBO (author) / YANG DONGSHAN (author) / SONG XIAOLONG (author) / LUO JINBIAO (author) / HUANG XINGE (author)

    Publication date :

    2023-02-03


    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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