The embodiment of the invention provides a vehicle dynamic avoidance transverse control method and device and a vehicle, and relates to the technical field of intelligent driving, and the method comprises the steps: collecting road data in real time in the driving process of a vehicle, determining a current driving scene according to the road data, and calculating an initial dynamic avoidance distance in combination with the width of the vehicle and the width of a current lane; and according to the current driving scene, the initial dynamic avoidance distance is fused with a correspondingly set curve gain coefficient to obtain a final target dynamic avoidance distance, and finally, according to the current driving scene and the target dynamic avoidance distance, a corresponding transverse control strategy is executed. According to the method, a plurality of scenes containing longitudinal obstacles facing the lane keeping function are distinguished in a refined manner through recognition and judgment, the problem that lane keeping control is unstable due to poor perception is effectively solved, and the driving safety of the vehicle is greatly improved.
本申请实施例提出了一种车辆动态避让横向控制方法、装置及车辆,涉及智能驾驶技术领域,在自车行驶过程中实时采集道路数据,根据道路数据确定当前驾驶场景,结合自车车宽以及当前所在的车道宽度,计算初始动态避让距离;根据当前驾驶场景,将初始动态避让距离融合对应设置的弯道增益系数,得到最终的目标动态避让距离,最后根据当前驾驶场景以及目标动态避让距离,执行对应的横向控制策略。本申请通过识别判定细化区分了车道保持功能面对的若干包含纵向障碍物的场景,有效解决由于感知不佳导致车道保持控制不稳定的问题,大幅提高车辆的驾驶安全性。
Vehicle dynamic avoidance transverse control method and device and vehicle
一种车辆动态避让横向控制方法、装置及车辆
2025-03-07
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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