Lane obstacle avoidance method and device for autonomous vehicle

An automatic driving and vehicle technology, applied in the field of lane obstacle avoidance methods and devices for automatic driving vehicles, can solve problems such as inability to solve obstacle avoidance problems, and achieve the effect of improving real-time performance

Pending Publication Date: 2022-05-27
ZHENGZHOU YUTONG BUS CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a lane obstacle avoidance method and device for an automatic driving vehicle, which is used to solve the obstacle avoidanc...

Method used

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  • Lane obstacle avoidance method and device for autonomous vehicle
  • Lane obstacle avoidance method and device for autonomous vehicle
  • Lane obstacle avoidance method and device for autonomous vehicle

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Experimental program
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Effect test

Embodiment 1

[0035] This embodiment proposes a lane obstacle avoidance method for an autonomous vehicle. The overall process is as follows figure 1 As shown in the figure, the realization idea of ​​this method is: according to the movement of obstacles, plan a reference driving path based on Bezier curve on the current lane; make the vehicle avoid obstacles on the current lane according to the planned reference driving path. The specific steps for realizing this method are as follows:

[0036] 1) Determine the status of the obstacles in front of the lane. The status of the obstacles includes: stationary, driving in the same direction, driving in the opposite direction, and crossing the lane.

[0037] 2) According to the different states of the obstacles, combined with the distance between the vehicle and the obstacle Dis_obs, set the path planning reference point. The settings are as follows:

[0038] For the situation where the obstacle state is driving in the same direction:

[0039] ...

Embodiment 2

[0061] This embodiment proposes a lane obstacle avoidance method for an autonomous vehicle. The overall process is as follows Figure 5 shown, the specific steps are as follows:

[0062] Step 1: Use the navigation and positioning system to calculate the reference path information, including the positioning solution state, horizontal and vertical coordinates, heading angle, and curvature change information of the path point set.

[0063] Step 2: Determine whether the front-end input (perception, positioning and other information) of the decision-making meets the conditions for automatic driving. The specific judgment content includes: positioning solution judgment; positioning communication fault judgment, sensing fault judgment, when positioning and sensing are correct and the positioning solution is in the best state, it will enter the automatic driving mode.

[0064] Step 3: According to the vehicle pose and reference path, determine whether the vehicle is currently in a si...

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Abstract

The invention relates to a lane obstacle avoidance method and device for an automatic driving vehicle, and belongs to the technical field of intelligent vehicle driving. According to the state of the obstacle and the distance between the vehicle and the obstacle, setting a path planning reference point; substituting the path planning reference point into a set Bezier curve equation, and planning a reference driving path based on a Bezier curve; and controlling the vehicle to drive according to the reference driving path to realize obstacle avoidance driving. According to the lane obstacle avoidance method and device, when the vehicle encounters the obstacle, the vehicle can run along the current lane in an obstacle avoidance mode, unnecessary obstacle avoidance and lane changing behaviors are avoided as much as possible, and the real-time performance, rationality and safety of behavior decision making are improved; under the double-lane working condition, obstacle avoidance returning is preferentially selected, and when obstacle avoidance returning of the lane cannot be achieved, an obstacle avoidance lane changing strategy is provided, so that the obstacle avoidance flexibility is improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent vehicle driving, and in particular relates to a lane obstacle avoidance method and device for an automatic driving vehicle. Background technique [0002] At present, self-driving vehicles have intelligent environmental perception capabilities. By identifying paths, analyzing current road conditions, and combining vehicle positions, they can detect obstacles and realize real-time early warning. However, in the real environment, when the autonomous logistics vehicle travels in the given path of the global planning, it is often affected by random obstacles. At this time, it is necessary to use the method of real-time obstacle avoidance to safely complete the driving task. [0003] For example, the Chinese invention patent application with the publication number of CN109987092A proposes a method for determining the timing of vehicle obstacle avoidance and lane change and the control method for obs...

Claims

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Application Information

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IPC IPC(8): B60W30/095
CPCB60W30/0956B60W2552/50
Inventor 王小娟苏常军黄琨陈慧勇曹鹭萌刘国荣
Owner ZHENGZHOU YUTONG BUS CO LTD
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