The invention discloses an automatic driving vehicle meeting avoidance method and device. The method comprises the steps that 1, a path for turning at an intersection is divided into a first area, a second area and a third area; 2, performing path collision inspection on the dynamic obstacle vehicle and the automatic driving vehicle, and if no collision risk exists after inspection, determining that the automatic driving vehicle runs normally; if there is a collision risk, executing a step 3, and deciding an avoidance action according to the area divided by the autonomous vehicle in the step S1 and the predicted trajectory of the dynamic obstacle vehicle; and 4, calling and executing a corresponding planner according to the avoidance action obtained by the decision. The device comprises a curve processing module, a collision detection module, an avoidance action decision module and a driving planning module. The method has the technical effects that in an intersection meeting scene in a garage environment, avoidance is realized through operations such as backing, forward posture adjustment by moving a steering wheel and the like, and the smoothness and the safety of automatic driving are improved.

    本发明公开了一种自动驾驶车辆会车避让方法和装置,该方法包括步骤:1、在路口转弯时的路径分为第一区域,第二区域和第三区域;2、对动态障碍车辆和自动驾驶车辆进行路径碰撞检验,如检验后无碰撞风险,则自动驾驶车辆正常行驶;如有碰撞风险,则执行步骤3、根据自动驾驶车辆位于步骤S1划分的区域,以及动态障碍车辆的预测轨迹,决策避让动作;4、根据决策得到的避让动作,调用相应的规划器并执行。该装置包括弯道处理模块、碰撞检测模块、避让动作决策模块和行车规划模块。本发明技术效果是:在车库环境下的路口会车场景中,通过倒车、挪动方向盘前向调整姿态等操作,实现避让,提高自动驾驶的流畅性和安全性。


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    Title :

    Automatic driving vehicle meeting avoidance method and device


    Additional title:

    一种自动驾驶车辆会车避让方法和装置


    Contributors:
    BAO JING (author) / XU XIXIONG (author) / JU CHUANYU (author) / WAN KAILIN (author) / WEN TAO (author) / ZHANG SHUO (author)

    Publication date :

    2024-05-17


    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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