The invention provides an unmanned vehicle transverse dynamic avoidance decision-making method and an unmanned vehicle system, and the decision-making method comprises the following steps: obtaining an obstacle consideration region based on a driving scene according to vehicle state information and lane information or according to the vehicle state information, the lane information and a planning space abscissa; judging whether the suspected obstacle is an actual obstacle based on the obstacle consideration area; if yes, obtaining relative state information of the actual obstacle according to the vehicle state information and the state information of the actual obstacle; obtaining an avoidance decision according to the vehicle state information, the lane information, the transverse reference position and the relative state information of the actual obstacle; and the unmanned vehicle executes dynamic avoidance based on the avoidance decision. The unmanned vehicle transverse dynamic avoidance decision method provided by the invention is high in dynamic obstacle detection and identification accuracy and strong in avoidance decision stability.
本发明提供了一种无人车横向动态避让决策方法和无人车系统,该决策方法包括以下步骤:基于行驶场景,根据车辆状态信息和车道信息或根据车辆状态信息、车道信息和规划空间横坐标获得障碍考虑区域,基于障碍考虑区域判断疑似障碍物是否为实际障碍物:若是,则根据车辆状态信息和实际障碍物的状态信息获得实际障碍物的相对状态信息;根据车辆状态信息、车道信息、横向参考位置和实际障碍物的相对状态信息获得避让决策;无人车基于避让决策执行动态避让。本发明提供的一种无人车横向动态避让决策方法动态障碍检测与识别的准确性高,避让决策的稳定性强。
Unmanned vehicle transverse dynamic avoidance decision-making method and unmanned vehicle system
一种无人车横向动态避让决策方法和无人车系统
2025-02-25
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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