The invention relates to a vehicle obstacle avoidance trajectory planning method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps of obtaining information of obstacles around a current vehicle; predicting driving tracks of all obstacles in a future preset time period according to the information of the obstacles around the current vehicle; under the condition that the condition that no fast approaching obstacle exists behind the current vehicle is obtained based on the driving track analysis, target obstacles needing to be subjected to in-lane obstacle avoidance are screened and recognized; calculating a lane occupation space of the target obstacle based on the driving data of the target obstacle; calculating the lane driving space of the current vehicle according to the lane occupation space of the target obstacle; and performing path planning and speed planning solution based on the lane driving space of the current vehicle, and generating an obstacle avoidance track of the current vehicle. By adopting the method, vehicles in the same direction of the adjacent lanes can be effectively avoided during driving on the expressway, and the driving safety is improved.
本申请涉及一种车辆避障轨迹规划方法、装置、计算机设备、计算机可读存储介质和计算机程序产品。方法包括:获取当前车辆周围的障碍物信息;根据当前车辆周围的障碍物信息,预测所有障碍物在未来预设时段内的行驶轨迹;在基于行驶轨迹分析得到当前车辆后方不存在快速接近的障碍物的情况下,筛选识别出需要进行车道内避障的目标障碍物;基于目标障碍物的行驶数据,计算目标障碍物的车道占用空间;根据目标障碍物的车道占用空间,计算当前车辆的车道行驶空间;基于当前车辆的车道行驶空间进行路径规划和速度规划求解,生成当前车辆避障轨迹。采用本方法,在高速道路行驶时,能够有效避让相邻车道同向车辆,提高行驶安全性。
Vehicle obstacle avoidance trajectory planning method and device, computer equipment and storage medium
车辆避障轨迹规划方法、装置、计算机设备和存储介质
2024-12-27
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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