The invention provides a vehicle lane changing and obstacle avoiding control method and device. The method comprises the steps that vehicle driving information of a target vehicle in the driving process is acquired; determining first coordinate positioning of the target vehicle and second coordinate positioning of the target obstacle according to the vehicle driving information; according to the first coordinate positioning and the second coordinate positioning, performing lane changing and obstacle avoiding simulation of the target vehicle to obtain a plurality of lane changing and obstacle avoiding simulation routes; drawing a plurality of obstacle avoidance track curves according to the lane changing obstacle avoidance simulation route; under a preset constraint condition, screening the plurality of obstacle avoidance trajectory curves to obtain a target lane changing obstacle avoidance route set; determining an evadable driving area according to the target lane changing obstacle avoidance route set; and controlling the target vehicle to perform lane change and obstacle avoidance according to the evadable driving area and the target lane change and obstacle avoidance route set. Therefore, according to the method and the device, the control decision can be automatically realized along with the change of the road surface, so that the adaptability to complex road surface conditions is improved.

    本申请提供一种车辆换道避障控制方法及装置,该方法包括:获取目标车辆在行驶过程中的车辆行驶信息;根据车辆行驶信息确定目标车辆的第一坐标定位和目标障碍物的第二坐标定位;根据第一坐标定位和第二坐标定位,进行目标车辆的换道避障模拟,得到多条换道避障模拟路线;根据换道避障模拟路线绘制多条避障轨迹曲线;在预设的约束条件下,对多条避障轨迹曲线进行筛选,得到目标换道避障路线集;根据目标换道避障路线集,确定可规避行驶区域;根据可规避行驶区域和目标换道避障路线集,控制目标车辆进行换道避障。可见,该方法及装置能够随路面的变化而自动实现控制决策,从而提高复杂的路面状况的适应能力。


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    Title :

    Vehicle lane change obstacle avoidance control method and device


    Additional title:

    一种车辆换道避障控制方法及装置


    Contributors:
    SHEN MIAO (author) / LI MIN (author) / QI XINYING (author) / LUO HONG (author) / CAI ZHONGHUI (author) / TAO WUKANG (author)

    Publication date :

    2024-03-01


    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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