The invention provides an intelligent obstacle avoidance method for lane centering, which comprises the following steps of: detecting an obstacle through sensing equipment such as a millimeter wave radar/laser radar, fitting and calculating a deviation value of a vehicle needing to be far away from the obstacle by utilizing the transverse and longitudinal distances of the obstacle relative to the vehicle, and compensating to a lane center line of a lane centering algorithm; the LCC is far away from the obstacle to a certain extent in the lane, and the psychological pressure of a driver is reduced.
本发明提供了一种用于车道居中的障碍物智能避让方法,通过毫米波雷达/激光雷达等感知设备检测障碍物,利用障碍物相对车辆的横纵向距离,拟合计算车辆需要远离障碍物的偏移值并补偿至车道居中算法的车道中心线,使LCC在车道内实现一定程度的远离障碍物,减小驾驶员的心理压力。
Intelligent obstacle avoidance method for lane centering
一种用于车道居中的障碍物智能避让方法
2024-10-15
Patent
Electronic Resource
Chinese
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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