The invention discloses an avoidance control method, device and equipment for a ramp afflux vehicle, and a storage medium, relates to the technical field of vehicle control, and discloses the avoidance control method for the ramp afflux vehicle, and the method comprises the steps: when a target vehicle meeting a meeting condition is detected to exist in a front ramp, the target vehicle meets the meeting condition; starting a first avoidance strategy according to the longitudinal distance between the vehicle and the target vehicle and the collision time; obtaining target vehicle position information, ramp position information, lane line information and deviation side vehicle detection information according to the first avoidance strategy, and controlling the own vehicle to perform lateral deviation avoidance; starting a second avoidance strategy according to at least one of the longitudinal distance, the collision time and the surrounding vehicle information when it is detected that the target vehicle merges into the own vehicle lane; and according to the second avoidance strategy, the vehicle is controlled to perform avoidance so as to complete avoidance control of the ramp afflux vehicle. The convergence intention is comprehensively considered in the avoidance control process of the ramp convergence vehicles, and the collision risk is reduced.

    本申请公开了一种匝道汇入车辆的避让控制方法、装置、设备及存储介质,涉及车辆控制技术领域,公开了匝道汇入车辆的避让控制方法,包括:在检测到前方匝道存在满足相遇条件的目标车辆时,根据自车与目标车辆的纵向距离和碰撞时间启动第一避让策略;根据第一避让策略获取目标车辆位置信息、匝道位置信息、车道线信息以及偏离侧车辆检测信息,并控制自车进行横向偏移避让;在检测到目标车辆汇入自车车道时,根据纵向距离、碰撞时间以及周围车辆信息中的至少一个启动第二避让策略;根据第二避让策略控制自车进行避让,以完成匝道汇入车辆的避让控制。实现在对匝道汇入车辆的避让控制过程中全面考虑汇入意图,减少碰撞风险。


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    Title :

    Avoidance control method, device and equipment for ramp afflux vehicle and storage medium


    Additional title:

    匝道汇入车辆的避让控制方法、装置、设备及存储介质


    Contributors:
    CHENG MING (author) / LIU JIFENG (author) / ZHAO YONG (author) / LI YUHAO (author)

    Publication date :

    2025-02-11


    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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