Method, device and vehicle for actively avoiding obstacles by vehicle

Abstract

The invention relates to a method, a device and a vehicle for actively avoiding obstacles for a vehicle, so as to realize the effect of actively avoiding obstacles when the road ahead of the vehicle is occupied by obstacles. The method for the vehicle to actively avoid obstacles includes: when the vehicle is in the adaptive cruise mode and the lane centering driving mode at a constant speed, detecting whether there is an obstacle in front that partially occupies the driving lane of the vehicle; if there is, determining The type of the obstacle; when the type of the obstacle is a stationary obstacle, determine the first remaining lateral width of the vehicle's driving lane after being occupied by the stationary obstacle; if the type of the obstacle is a moving obstacle When the vehicle travels to a position where a collision may occur, the second remaining lateral width of the vehicle’s driving lane after being occupied by the moving obstacle is determined; according to the first remaining lateral width or the second remaining lateral width, the control The vehicle actively performs obstacle avoidance.

Description

technical field [0001] The invention relates to the technical field of automobile driving assistance, in particular to a method, a device and an automobile for actively avoiding obstacles by a vehicle. Background technique [0002] In recent years, autonomous driving technology has been hotly discussed in various fields, including Internet companies such as Baidu, Tencent, Google, and Huawei. They have also conducted in-depth research on autonomous driving technology and achieved breakthrough research results. The most representative masterpieces include Baidu Apollopilot, Audi A8AI, Tesla Autopilot and other systems. According to the SAEJ3016 automatic driving classification standard, L3 and below solutions are defined as assisted driving (ADAS), and L4-L5 are defined as automatic driving. At present, L2 and L2.5 (L2+) functions have been mass-produced in most models at home and abroad, and their penetration rate is increasing day by day. L3 functions will also be graduall...

AI Technical Summary

Problems solved by technology

L2 functions mainly include ACC, AEB, LKA, LCS and other functions. ACC, AEB-C&I are mainly realized by the interactive scheme of single millimeter wave radar and vehicle electronic stability control module. The main disadvantage is that the recognition rate of stationary targets needs to be improved; AEB- P is mainly realized by the 1R1V fusion scheme, which optimizes the recognition of stationary objects and adds automatic emergency automatic for pedestrians; LKA and LCS mainly realize the lateral control between lanes through the interaction between the intelligent camera and the vehicle's electronic power steering control module (EPS). The main disadvantages Limited by hardware, the cut-in and cut-out working conditions of the target vehicle are limited

Nowadays, the automatic driving assistance function has been mass-produced in the market. The existing automatic driving assistance function alone cannot perform active avoidance operations in the scene where the road ahead is occupied by obstacles, and requires the driver to actively intervene.

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