The invention discloses a path planning method and system for obstacle avoidance in a passable area and a vehicle. The path planning method for obstacle avoidance in the passable area comprises the following steps: acquiring environment information and map information in a driving route of the vehicle; the environment information is matched with the map information, current road information in the driving route of the vehicle is obtained, and the current road information comprises boundary line information of the vehicle in the driving lane and information of obstacles located in the driving lane; if it is determined that there is an obstacle in the driving lane according to the obstacle information, generating a path planning scheme of the vehicle in the driving lane according to the boundary line information and the obstacle information; and controlling the vehicle to run according to the path planning scheme so as to avoid the obstacle in the driving lane. The vehicle can be effectively prevented from deviating from the lane when encountering the obstacle, it is guaranteed that the vehicle does not deviate from the original driving lane and bypasses the obstacle, and the driving safety is improved.

    本申请公开了一种可通行区域避障的路径规划方法、系统及车辆,所述可通行区域避障的路径规划方法包括:获取自车行驶路线中的环境信息和地图信息;将所述环境信息与所述地图信息进行匹配,得到自车行驶路线中的当前道路信息,其中,所述当前道路信息包括自车在行驶车道的边界线信息以及位于行驶车道中的障碍物信息;若根据所述障碍物信息确定在行驶车道中存在障碍物,根据所述边界线信息和所述障碍物信息,生成自车在行驶车道内的路径规划方案;控制自车按照所述路径规划方案行驶,以在行驶车道中避让所述障碍物。本申请能够有效避免车辆在遇到障碍物时偏离车道,保证自车不偏离原本行驶车道绕开障碍物行驶,提高了行车安全性。


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    Title :

    Path planning method and system for obstacle avoidance in passable area, and vehicle


    Additional title:

    一种可通行区域避障的路径规划方法、系统及车辆


    Contributors:
    DU MUXIONG (author) / QIU LIHONG (author) / KONG ZHOUWEI (author) / REN FAN (author)

    Publication date :

    2024-01-05


    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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