The invention provides an avoidance control method and device, a storage medium, a vehicle and a system. The method comprises the steps: receiving the vehicle information of a special vehicle broadcasted by a road side, wherein the vehicle information at least comprises position information; judging whether the special vehicle and the vehicle run on the same lane and are located behind the vehicleor not according to the position information; if the judgment result is yes, calculating the distance between the special vehicle and the vehicle according to the position information; when the distance between the special vehicle and the vehicle is within a preset range, planning a forbidden path with a preset length by taking a preset target point as a starting point in a current driving lane planned by automatic driving; and controlling the vehicle to change lanes according to the forbidden path so as to avoid the special vehicle. According to the invention, a common vehicle in front can actively avoid a special vehicle behind, so the special vehicle can run smoothly.

    本发明提供一种避让控制方法、装置、存储介质、车辆及系统,所述方法包括:接收路端广播的特殊车辆的车辆信息,所述车辆信息至少包括位置信息;根据所述位置信息判断所述特殊车辆与本车是否在同一车道上行驶且位于本车的后方;当判断结果为是,则根据所述位置信息计算出所述特殊车辆与本车的距离;当所述特殊车辆与本车的距离处于预设范围内时,在自动驾驶规划的当前行驶车道规划出以预设目标点为起点预设长度的禁行路径;根据所述禁行路径控制所述车辆进行变道,以避让所述特殊车辆。本发明能够使前方的普通车辆主动避让后面的特殊车辆,从而保证特殊车辆行驶畅通。


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    Title :

    Avoidance control method and device, storage medium, vehicle and system


    Additional title:

    一种避让控制方法、装置、存储介质、车辆及系统


    Contributors:
    HU JIANLI (author) / HUANG SHAOTANG (author) / WANG AICHUN (author) / YAN DONG (author)

    Publication date :

    2020-08-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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