The invention provides an automatic driving vehicle turning avoidance control method and system, and relates to the technical field of automatic driving control, and the automatic driving vehicle turning avoidance control method comprises the following steps: obtaining turning information of an automatic driving vehicle, obstacle information in a set range, and signal lamp information, the turning information comprises a turning path and a driving speed of the autonomous vehicle, the obstacles comprise pedestrians and interference vehicles on a road to be turned, and the obstacle information comprises positions, walking speeds and walking directions of the pedestrians and positions, driving speeds and driving directions of the interference vehicles; the signal lamp information comprises a steering lamp state of an interference vehicle and a road traffic lamp state; establishing a trajectory model; calculating collision positions and collision time of the autonomous vehicle, the pedestrian and the interference vehicle according to the trajectory model; calculating an avoidance speed of the autonomous vehicle according to the collision position and the collision time; and controlling the autonomous vehicle to turn at the avoidance speed.
本申请提供了一种自动驾驶车辆转弯避让控制方法及系统,涉及自动驾驶控制技术领域,其中,该动驾驶车辆转弯避让控制方法包括如下步骤:获取自动驾驶车辆的转弯信息、设定范围内的障碍物信息和信号灯信息,所述转弯信息包括自动驾驶车辆的转弯路径和行驶速度,所述障碍物包括待转向道路上的行人和干涉车辆,所述障碍物信息包括行人的位置、行走速度和行走方向、干涉车辆的位置、行驶速度和行驶方向,所述信号灯信息包括干涉车辆的转向灯状态和道路交通灯状态;建立轨迹模型;根据轨迹模型计算自动驾驶车辆与行人、干涉车辆的碰撞位置和碰撞时间;根据碰撞位置和碰撞时间计算自动驾驶车辆避让速度;控制自动驾驶车辆以避让速度转弯。
Automatic driving vehicle turning avoidance control method and system
一种自动驾驶车辆转弯避让控制方法及系统
2023-12-15
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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