The invention is suitable for the technical field of automatic driving, and provides an obstacle avoidance method and device for automatic driving and terminal equipment, and the method comprises the steps: obtaining the current vehicle information and current road information of a target vehicle; determining that the target vehicle generates an obstacle avoidance and lane changing intention when it is determined that there is a to-be-avoided other vehicle of a preset vehicle type in the adjacent lane corresponding to the current lane of the target vehicle and the other vehicle information of the to-be-avoided other vehicle and the current vehicle information meet an obstacle avoidance and lane changing intention generation condition; according to the current vehicle information and the current road information, determining a target lane which is used for obstacle avoidance and lane changing and meets lane changing conditions and a safety boundary corresponding to the target vehicle; and controlling the target vehicle to change the lane to the target lane within the safety boundary. Therefore, when the vehicle of the preset vehicle type with relatively high risk appears in the adjacent lanes, autonomous lane changing is performed to be away from the dangerous vehicle, so that the safety and comfort of automatic driving are improved, and the user experience is improved.

    本申请适用于自动驾驶技术领域,提供了一种自动驾驶的避障方法、装置及终端设备,该方法包括:获取目标车辆的当前车辆信息及当前道路信息;在确定目标车辆的当前所在车道对应的相邻车道中存在预设车辆类型的待躲避他车、且待躲避他车的他车信息与当前车辆信息满足避障变道意图产生条件时,确定目标车辆产生避障变道意图;根据当前车辆信息与当前道路信息,确定用于避障变道的满足变道条件的目标车道及目标车辆对应的安全边界;控制目标车辆在安全边界内变道至目标车道。由此,通过在相邻车道中出现危险性较高的预设车辆类型的车辆时进行自主变道,以远离危险车辆,从而提升了自动驾驶的安全性与舒适性,改善了用户体验。


    Access

    Download


    Export, share and cite



    Title :

    Obstacle avoidance method and device for automatic driving, terminal equipment and storage medium


    Additional title:

    自动驾驶的避障方法、装置、终端设备及存储介质


    Contributors:
    ZHAO SHIQIANG (author) / GAO JIAN (author) / LIU ZIWEI (author) / MA XIAOQIANG (author) / PENG SHULI (author) / GAO JIE (author)

    Publication date :

    2024-04-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Obstacle avoidance method and device for automatic driving, terminal equipment and storage medium

    ZHAO SHIQIANG / GAO JIAN / LIU ZIWEI et al. | European Patent Office | 2024

    Free access

    Obstacle avoidance method and device for automatic driving, terminal equipment and storage medium

    ZHAO SHIQIANG / GAO JIAN / LIU ZIWEI et al. | European Patent Office | 2024

    Free access

    Automatic driving obstacle avoidance method and device, storage medium and vehicle

    LIN DONGSHUO | European Patent Office | 2024

    Free access

    Lane-changing obstacle avoidance method, device and equipment, storage medium and automatic driving vehicle

    ZHOU XIANGPO / ZHANG PENGFEI | European Patent Office | 2023

    Free access

    Automatic driving obstacle avoidance method and system, and storage medium

    XIU CAIJING / LIANG WEIQIANG / GUO JISHUN | European Patent Office | 2022

    Free access