The invention discloses an anti-collision method and device for an automatic driving vehicle, and the method comprises the steps: detecting whether a region meeting a preset impassable condition exists in a grid point passable region or not when the automatic driving vehicle runs based on a target trajectory; and when the existence of the area is detected, determining a local path in the target trajectory corresponding to the area, and calculating the nearest distance between the local path and the area, thereby matching the optimal driving speed of the autonomous vehicle, and controlling the driving of the autonomous vehicle according to the optimal driving speed, and performing closed-loop control according to the target acceleration and the actual speed of the autonomous vehicle to obtain the current acceleration of the autonomous vehicle so as to decelerate or brake according to the current acceleration. According to the embodiment of the invention, when the existence of the impassable area is detected, the automatic driving vehicle can be controlled to slow down or brake according to the current acceleration of the vehicle, so that the driving safety of the vehicle is effectively improved.

    本申请公开了一种自动驾驶车辆的防碰撞方法及装置,其中,方法包括:在自动驾驶车辆基于目标轨迹行驶时,检测栅格点可通行区是否存在满足预设不可通行条件的区域;在检测到存在区域时,确定区域对应的目标轨迹中局部路径,并计算局部路径和区域之间的最近距离,从而匹配自动驾驶车辆的最佳行驶速度,以按照最佳行驶速度控制自动驾驶车辆行驶,其中,根据栅格点可通行区计算目标加速度,并根据目标加速度和自动驾驶车辆的实际车速进行闭环控制,得到自动驾驶车辆的当前加速度,以按照当前加速度进行减速或者制动。本申请实施例可以在检测到存在不可通行区域时,根据车辆当前加速度控制自动驾驶车辆减速或制动,有效的提升车辆行驶的安全性。


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    Title :

    Anti-collision method and device for autonomous vehicle


    Additional title:

    自动驾驶车辆的防碰撞方法及装置


    Contributors:
    ZHOU TAO (author) / YANG LINGWEN (author)

    Publication date :

    2023-07-18


    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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