The invention is suitable for the technical field of automatic driving, and provides an obstacle avoidance method and device for automatic driving and terminal equipment, and the method comprises the steps: obtaining the current vehicle information and current road information of a target vehicle; when the current speed of the target vehicle is smaller than the current speed of the front vehicle and the current speed of the target vehicle is smaller than the target speed corresponding to the target vehicle, it is determined that the target vehicle is pressed by the front vehicle; when the idle lane meeting the first lane changing condition exists in the road where the target vehicle is located currently, it is determined that the target vehicle generates a speed-pressing lane changing intention; selecting a target lane meeting a second lane changing condition and a safety boundary corresponding to the target vehicle from the idle lanes according to the current vehicle information and the current road information; and controlling the target vehicle to change the lane to the target lane within the safety boundary. Therefore, automatic lane changing is carried out when the speed is pressed by the front vehicle, the speed is increased as soon as possible, the passing efficiency of automatic driving is improved, and then the practicability and flexibility of automatic driving are improved.

    本申请适用于自动驾驶技术领域,提供了一种自动驾驶的避障方法、装置及终端设备,该方法包括:获取目标车辆的当前车辆信息及当前道路信息;在目标车辆的当前速度小于前车的当前速度、且目标车辆的当前速度小于目标车辆对应的目标速度时,确定目标车辆处于被前车压速状态;在目标车辆当前所在的道路中存在满足第一变道条件的空闲车道时,确定目标车辆产生压速变道意图;根据当前车辆信息与当前道路信息,从空闲车道中选取满足第二变道条件的目标车道及目标车辆对应的安全边界;控制目标车辆在安全边界内变道至目标车道。由此,通过在被前车压速时进行自主变道,以尽快提速,从而提升了自动驾驶的通行效率,进而提升了自动驾驶的实用性和灵活性。


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    Title :

    Obstacle avoidance method and device for automatic driving, terminal equipment and storage medium


    Additional title:

    自动驾驶的避障方法、装置、终端设备及存储介质


    Contributors:
    ZHAO SHIQIANG (author) / GAO JIAN (author) / LIU ZIWEI (author) / MA XIAOQIANG (author) / PENG SHULI (author) / GAO JIE (author)

    Publication date :

    2024-04-09


    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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