The invention relates to the technical field of intelligent driving, in particular to an obstacle avoiding method and device and a vehicle. According to the obstacle avoiding method disclosed by the invention, whether the left side line of the own vehicle lane and the right side line of the own vehicle lane can be crossed or not is determined, and the congestion type of the own vehicle lane is determined; under the condition that one of the left side line and the right side line can be crossed and the congestion type is a first type, it is determined that the adjacent lane on the side line side capable of being crossed is subjected to lane borrowing or lane changing, and the first type is used for representing that an obstacle of the lane of the vehicle is a static obstacle; and under the condition that the left side line and the right side line can be crossed and the congestion type is the first type, determining to borrow or change a lane to one of the left side lane and the right side lane according to the respective instantaneous traffic flow of the left side lane and the right side lane. According to the method provided by the embodiment of the invention, invalid lane changing can be avoided, the yawing problem caused by lane changing can be solved, and lane changing or lane borrowing can be intelligently output in a more humanized manner under the conditions of lane congestion and no yawing.

    本发明涉及智能驾驶技术领域,尤其涉及一种绕障方法、装置及车辆。本发明公开的绕障方法提供了一种确定自车车道的左边线和自车车道的右边线是否可跨越,以及,确定自车车道的拥堵类型;在左边线和所述右边线中的一者可跨越,且拥堵类型为第一类型的情况下,确定向可跨越的边线侧的邻车道借道或变道,第一类型用于表征自车车道的障碍物是静态障碍物;在左边线和右边线中均可跨越,且拥堵类型为第一类型的情况下,根据左侧车道和右侧车道各自的瞬时车流,确定向左侧车道和右侧车道中的一者借道或变道。通过实施例提供的方法,能够避免无效换道、解决换道导致的偏航问题,也可以在自车道拥堵,保证不偏航的条件下更人性化地智能地输出变道或借道。


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    Title :

    Obstacle avoiding method and device and vehicle


    Additional title:

    一种绕障方法、装置及车辆


    Contributors:
    DAI HAOJUN (author)

    Publication date :

    2023-12-12


    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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