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 it is determined that the current lane of the target vehicle contains the obstacle, it is determined that the target vehicle generates an obstacle avoidance and lane changing intention; determining a target lane for obstacle avoidance and lane change according to the distance between the obstacle and the lane lines on the two sides of the current lane; when the target lane meets the lane changing condition, determining a safety boundary corresponding to the target vehicle 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, when the obstacle is detected in front of the vehicle, autonomous lane changing is performed to avoid the obstacle, so that the safety and practicability of automatic driving are improved, and the user experience is 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;在确定目标车辆的当前所在车道中包含障碍物时,确定目标车辆产生避障变道意图;根据障碍物与当前所在车道的两侧车道线之间的距离,确定用于避障变道的目标车道;在目标车道满足变道条件时,根据当前车辆信息与当前道路信息,确定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,通过在车辆前方检测到障碍物时,进行自主变道,以避开障碍物,从而提升了自动驾驶的安全性与实用性,改善了用户体验。


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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) / PENG SHULI (author) / MA XIAOQIANG (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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