The invention provides a transverse avoidance method and device for an autonomous vehicle. The method comprises the following steps: acquiring a detection result and a sensing result about the surrounding environment of the vehicle; according to the detection result and the sensing result, determining an avoidance condition of the corresponding obstacle; and under the condition that the obstacle meets the avoidance condition, whether a safe avoidance space exists or not is judged according to the detection result and the sensing result, and a transverse avoidance behavior is executed based on the existence of the safe avoidance space. According to the invention, the comprehensiveness and accuracy of decision information are improved by obtaining the detection result and the sensing result; different avoiding conditions are set for different obstacles, so that the danger degree of the corresponding obstacle away from the lane line where the vehicle is located is determined according to the detection result and the sensing result, different decisions are made, the decision-making behaviors of the vehicle are enriched, and the collision risk of the vehicle is reduced.

    本发明提供一种自动驾驶车辆的横向避让方法及装置,方法包括:获取关于车辆周围环境的检测结果和感知结果;根据检测结果和感知结果,确定对应障碍物的避让条件;在障碍物符合避让条件的情况下,根据检测结果和感知结果,判断是否存在安全避让空间,并基于存在安全避让空间,执行横向避让行为。本发明通过获取检测结果和感知结果,以提高决策信息的全面性和准确信;针对不同的障碍物设置不同的避让条件,以便于根据检测结果和感知结果确定对应障碍物离自车所在车道线的危险程度,进而做出不同的决策,丰富了车辆的决策行为,降低车辆发生碰撞的风险。


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    Title :

    Transverse avoidance method and device for autonomous vehicle


    Additional title:

    自动驾驶车辆的横向避让方法及装置


    Contributors:
    LI WEI (author)

    Publication date :

    2023-08-04


    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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