The invention provides a dynamic obstacle avoidance method and device for autonomous overtaking and lane changing and a readable storage medium, and the method comprises the steps: obtaining the first relative position information of an intelligent vehicle and a first vehicle when the intelligent vehicle needs to overtake; acquiring second relative position information of the intelligent vehicle and a second vehicle; whether the first relative position information meets a first safety condition or not is judged, and if yes, the intelligent vehicle is controlled to execute first control; whether the second relative position information meets a second safety condition or not is judged, and if yes, the intelligent vehicle is controlled to execute second control; when the first safety condition and the second safety condition are met at the same time, whether the intelligent vehicle meets an overtaking condition or not is judged, and if yes, whether the intelligent vehicle meets a third safety condition or not is judged; and if the third safety condition is met, the intelligent vehicle is controlled to overtake. According to the embodiment of the invention, the problem that the dynamic change of the obstacle vehicle cannot be timely reflected in the overtaking process of the intelligent vehicle is solved.

    本发明提供了一种自主超车换道的动态避障方法、装置和可读存储介质,自主超车换道的动态避障方法包括:当智能车辆需要进行超车时,获取智能车辆与第一车辆的第一相对位置信息;获取智能车辆与第二车辆的第二相对位置信息;判断第一相对位置信息是否满足第一安全条件,若满足,则控制智能车辆执行第一控制;判断第二相对位置信息是否满足第二安全条件,若满足,则控制智能车辆执行第二控制;当同时满足第一安全条件和第二安全条件时,则判断智能车辆是否满足超车条件,若满足,则判断智能车辆是否满足第三安全条件;若满足第三安全条件,则控制智能车辆进行超车。本发明实施例解决了智能车辆超车过程中无法及时反应障碍物车辆动态变化的问题。


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    Title :

    Dynamic obstacle avoidance method and device for autonomous overtaking and lane changing, and readable storage medium


    Additional title:

    一种自主超车换道的动态避障方法、装置和可读存储介质


    Contributors:
    YU YONG (author) / ZHENG XINYU (author) / XING WENZHI (author) / ZHANG HANGJIA (author) / ZHENG XIYU (author) / PAN SHAOFEI (author) / LOU JUNJIE (author)

    Publication date :

    2023-03-24


    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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