Obstacle avoidance method and device for unmanned vehicle

Abstract

The invention provides an obstacle avoidance method for an unmanned vehicle. The method comprises the following steps: determining an obstacle avoidance mode and screening a first target vehicle which is corresponding to the obstacle avoidance mode and avoids an obstacle on the left side; if the first relative distance with the first target vehicle meets the left-side obstacle avoidance safety distance requirement, left-side obstacle avoidance is started, and in the process of arriving at an obstacle avoidance mark point on a left-side obstacle avoidance path, screening a second target vehicle returning to the right side corresponding to the obstacle avoidance mode; if the second relative distance with the second target vehicle does not meet the right-side return safety distance requirement, continuously driving according to the left-side obstacle avoidance path until reaching the obstacle avoidance marking point, continuously driving according to the left-side obstacle avoidance path until reaching the planned terminal point of the left-side obstacle avoidance path, and stopping the driving according to the left-side obstacle avoidance path, screening a third target vehicle returning to the right side corresponding to the obstacle avoidance mode; and if the third relative distance with the third target vehicle meets the right-side regression safety distance requirement, starting right-side regression until a planned end point of a right-side regression path is reached.

Description

technical field [0001] The present invention relates to the technical field of unmanned driving, and more specifically, relates to an obstacle avoidance method and device for unmanned vehicles. Background technique [0002] With the continuous development of unmanned driving technology, major companies continue to improve the automatic driving functions in different scenarios, among which the active obstacle avoidance function is the key foundation of unmanned vehicles, and good obstacle avoidance capabilities determine the overall performance of the vehicle. [0003] In the prior art, although the lane-changing trajectory planning problem of unmanned vehicles has been analyzed in detail, and various planning vehicle path models have been proposed, there is no detailed obstacle avoidance scheme Contents of the invention [0004] In view of this, in order to solve the above problems, the present invention provides an obstacle avoidance method and device for an unmanned vehi...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, although the lane-changing trajectory planning problem of unmanned vehicles has been analyzed in detail, and various planning vehicle path models have been proposed, there is no detailed obstacle avoidance scheme

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