The invention provides an intelligent avoiding method for a vehicle. The method comprises the following steps: S1, acquiring an image shot by a front-view camera at the head of the vehicle as an image to be analyzed; s2, establishing a plane coordinate system by taking the midpoint of the head of the vehicle as an original point, marking the positions of the vehicles in the adjacent lanes in the plane coordinate system, and calculating the longitudinal distance value between the vehicles in the adjacent lanes and the vehicle; s3, marking the lane line position of one side, far away from the adjacent vehicle, of the lane of the vehicle in the plane coordinate system according to the to-be-analyzed image, calculating a standard distance value of transverse deviation of the vehicle according to the lane line position, and obtaining a tail end coordinate point of the vehicle after avoidance according to the standard distance value and the longitudinal distance value; s4, according to the tail end coordinate point and the original point, calculating through a planning equation to obtain an avoiding track of the vehicle; the method has the advantages that the smooth and soft avoidance track can be reasonably planned in the lane according to the real-time conditions of the adjacent lane and the lane, so that the driving safety of the vehicle is ensured.
本发明提供一种车辆智慧避让方法,包括以下步骤:步骤S1,获取本车车头处的前视摄像头拍摄到的图像作为待分析图像;步骤S2,根据本车的车头中点为原点建立平面坐标系,在平面坐标系中标记相邻车道内的车辆位置,计算相邻车道内的车辆与本车之间的纵向距离值;步骤S3,根据待分析图像在平面坐标系中标记本车车道远离该相邻车辆一侧的车道线位置,根据车道线位置计算本车横向偏移的标准距离值,根据标准距离值和纵向距离值得到本车避让后的末端坐标点;步骤S4,根据末端坐标点以及原点通过规划算式计算得到本车的避让轨迹;本发明优点是能够根据相邻车道及本车道内的实时情况在本车道内合理规划平滑柔和的避让轨迹,以保证车辆的行驶安全。
Intelligent vehicle avoidance method
一种车辆智慧避让方法
2023-08-04
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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