The invention provides a close-range obstacle avoidance method and system for an autonomous vehicle, and belongs to the technical field of vehicle obstacle avoidance path planning. When the vehicle is in the automatic driving state, if the vehicle is parked due to a static obstacle in front and an avoiding track cannot be normally generated, the vehicle is controlled to enter a close-range avoiding scene; setting a vehicle steering angle, determining a vehicle steering radius according to the steering angle and the vehicle wheelbase, generating a vehicle avoidance prediction path according to the vehicle steering radius and the obstacle position, and judging whether the obstacle collides with the vehicle avoidance prediction path or not; selecting a corresponding vehicle steering angle which does not collide and is smaller than the maximum steering angle; and finally, generating a vehicle close-range obstacle avoidance path according to the determined steering angle and the road boundary. The method solves the problem that an existing automatic driving vehicle cannot generate a large-curvature avoidance path when encountering a close-distance static obstacle due to the strict generation condition of the avoidance track, so that avoidance cannot be realized.
本发明提出一种自动驾驶车辆近距离避障方法和系统,属于车辆避障路径规划技术领域。当车辆处于自动驾驶状态时,若车辆因前方静态障碍物停车,且无法正常生成避让轨迹,控制车辆进入近距离避让场景;然后设置车辆转向角度,并根据转向角度和车辆轴距确定车辆转向半径,并根据车辆转向半径和障碍物位置生成车辆避让的预测路径,判断障碍物是否会与车辆避让的预测路径发生碰撞,选取不发生碰撞且转向角小于最大转向角度对应的车辆转向角度;最后根据确定的转向角度和道路边界生成车辆近距离避障路径。本发明解决了现有自动驾驶车辆由于避让轨迹的生成条件比较严格,在遇到近距离静态障碍物时无法生成大曲率避让路径,从而导致避让不过去的问题。
Close-distance obstacle avoidance method and system for autonomous vehicle
一种自动驾驶车辆近距离避障方法和系统
2023-09-05
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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