The invention provides an automatic reversing safety obstacle avoiding method and system for a vehicle, and the method comprises the steps: receiving the distance between obstacles around the vehicle and the surrounding environment data of the vehicle in response to an automatic reversing control signal, determining a driving region around the vehicle, and judging whether the driving demand of the vehicle can be met or not; if yes, the vehicle is controlled to enter an obstacle avoiding state; determining the vehicle coordinate and the course angle of the original memory path according to the vehicle coordinate and the course angle of the current position of the vehicle; calculating the coordinates and course angle of the vehicle in the obstacle avoidance process according to the driving area around the vehicle; and comparing the two vehicle coordinates and course angles, fusing environment perception results of the vehicle, dynamically determining an optimal course angle, and executing a corresponding obstacle avoidance strategy. Obstacles such as pedestrians, dynamic vehicles and static vehicles are recognized and distinguished, different execution strategies are made in the reversing process, safety is high, and the method is suitable for any vehicle capable of carrying an automatic parking auxiliary system.
本发明提供了一种车辆自动倒车安全绕障方法及系统,响应于自动倒车控制信号,接收车辆周边障碍物距离以及车辆周边环境数据,确定车辆周围可行驶区域,判断是否能够满足车辆行驶需求;在满足时,控制车辆进入绕障状态;根据本车当前位置的车辆坐标和航向角,确定原始记忆路径的车辆坐标和航向角;根据车辆周围可行驶区域,推算绕障过程中本车坐标和航向角;对两次的车辆坐标和航向角进行对比,融合车辆的环境感知结果,动态确定最优航向角,执行相应的绕障策略。本发明通过对行人、动态车辆、静态车辆等障碍物进行识别区分,倒车过程中分别做出不同执行策略,安全性高,适用于任何可搭载自动泊车辅助系统的车辆。
Vehicle automatic reversing safe obstacle avoiding method and system
一种车辆自动倒车安全绕障方法及系统
2023-04-11
Patent
Electronic Resource
Chinese
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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