The invention discloses a detour control method and device, terminal equipment and a storage medium, and the method comprises the steps: entering a detour preparation state through responding to an identified detour instruction, and calculating a target offset; detecting whether the tailgating lane has a tailgating lane safety gap or not; if the tailgating lane safety gap exists, the current vehicle is controlled to enter a detouring execution state based on the target offset until detouring is completed, the tailgating detouring method for the complex road scene is provided, and under the condition that the tailgating lane safety gap exists, the detouring efficiency is improved. The current vehicle is controlled to enter the detouring execution state according to the calculated target offset, the safe distance between the current vehicle and the static or dynamic detouring target can be kept, meanwhile, a reasonable detouring path is planned, and therefore the success rate and/or the comfort degree of the vehicle detouring behavior under the complex road structure are/is improved.
本发明公开了一种绕行控制方法、装置、终端设备以及存储介质,通过响应于识别到绕行指令,进入绕行准备状态,计算目标偏移量;检测借道车道是否存在借道车道安全空隙;若存在借道车道安全空隙,则基于所述目标偏移量控制当前车辆进入绕行执行状态,直至绕行完成,提供了一种针对复杂的道路场景下的借道绕行方法,在存在借道车道安全空隙的情况下,根据计算的目标偏移量控制当前车辆进入绕行执行状态,可以与静态或动态的绕行目标保持安全距离,同时规划出合理的绕行路径,从而提高了复杂道路结构下车辆绕行行为的成功率和/或舒适度。
Detouring control method and device, terminal equipment and storage medium
绕行控制方法、装置、终端设备以及存储介质
2023-08-11
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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