CN114537381B - Lane obstacle avoidance method and device for automatic driving vehicle - Google Patents
Lane obstacle avoidance method and device for automatic driving vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention relates to a lane obstacle avoidance method and device for an automatic driving vehicle, which belong to the technical field of intelligent vehicle driving, and the method comprises the following steps: judging the state of an obstacle in front of a lane; setting a path planning reference point according to the state of the obstacle and combining the distance between the vehicle and the obstacle; substituting the path planning reference point into a set Bezier curve equation to plan a reference running path based on the Bezier curve; and controlling the vehicle to run according to the reference running path so as to realize obstacle avoidance running. The lane obstacle avoidance method and the lane obstacle avoidance device can enable the vehicle to carry out obstacle avoidance running along the current lane when encountering an obstacle, avoid unnecessary obstacle avoidance lane changing behaviors as much as possible, and improve the instantaneity, rationality and safety of behavior decision; under the working condition of double lanes, the obstacle avoidance return is preferably selected, and when the obstacle avoidance return cannot be realized in the lane, an obstacle avoidance lane change strategy is provided so as to improve the flexibility of obstacle avoidance.
Description
Technical Field
The invention belongs to the technical field of intelligent vehicle driving, and particularly relates to a lane obstacle avoidance method and device for an automatic driving vehicle.
Background
At present, an automatic driving vehicle has intelligent environment sensing capability, and the current road condition is analyzed through identifying a path, and the obstacle is detected by combining the vehicle position, so that real-time early warning is realized. However, in a real environment, when an autopilot logistics vehicle runs in a given path planned globally, the autopilot logistics vehicle is often affected by random obstacles, and then a real-time obstacle avoidance method is required to safely complete a running task.
For example, a method for determining a lane-changing time of a vehicle and a method for controlling lane-changing of the vehicle are disclosed in chinese patent application publication No. CN109987092a, by acquiring information of obstacles around the vehicle and road conditions, determining whether lane-changing conditions are satisfied between the obstacles around the vehicle and the vehicle, and determining that the vehicle can perform lane-changing of the obstacle when the set conditions are satisfied, and performing curve fitting according to a starting point coordinate, a target point coordinate and a road course angle to obtain a path from the starting point to the target point.
However, the existing lane obstacle avoidance methods are all methods for changing lanes when the vehicle encounters an obstacle in the current lane, and for the automatic driving logistics vehicle, in order to avoid the obstacle in the current lane for changing lanes and often encounter other driving logistics vehicles, the lane is changed to be the obstacle of other on-road vehicles or the other on-road vehicles are used as the obstacle, so that the existing lane obstacle avoidance method adopting the lane change cannot solve the obstacle avoidance problem in the driving environment of the automatic driving logistics vehicle.
Disclosure of Invention
The invention aims to provide a lane obstacle avoidance method and device for an automatic driving vehicle, which are used for solving the problem that the existing lane obstacle avoidance method adopting lane changing cannot solve the obstacle avoidance problem under the running environment of the automatic driving logistics vehicle.
Based on the above purpose, the technical scheme of the lane obstacle avoidance method of the automatic driving vehicle is as follows:
1) Judging the state of an obstacle in front of a lane;
2) Setting a path planning reference point according to the state of the obstacle and combining the distance Dis_obs between the vehicle and the obstacle;
The state of the obstacle comprises static state, and in the state, the setting rule of the path planning reference point is as follows: selecting n reference points, wherein n is more than or equal to 5, the horizontal coordinates of all the reference points are sequentially arranged at intervals within the range of [0, dis_ob ], the 1 st reference point is selected as the current coordinate of the vehicle, the vertical coordinate of the nth reference point is (W l+Wl '/2) or (W r+Wr′/2),Wl is the vertical coordinate of the left side edge of the obstacle, W l' is the left side edge of the obstacle and the left width of the left side edge of the obstacle on a lane, W r is the vertical coordinate of the right side edge of the obstacle, W r 'is the left side edge of the obstacle and the left side edge of the obstacle is in the range of [0, W l+Wl'/2 ], and the left side edge of each reference point is arranged in a sequence from small to large;
3) Substituting the path planning reference point into a set Bezier curve equation to plan a reference running path based on the Bezier curve;
4) And controlling the vehicle to run according to the reference running path so as to realize obstacle avoidance running.
Based on the above purpose, the technical scheme of the lane obstacle avoidance device of the automatic driving vehicle is as follows:
The lane obstacle avoidance method for the autonomous vehicle comprises a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor is coupled with the memory, and the lane obstacle avoidance method for the autonomous vehicle is realized when the processor executes the computer program.
The beneficial effects of the two technical schemes are as follows:
The lane obstacle avoidance method and device can enable the vehicle to plan the reference driving path according to a plurality of set path planning reference points when encountering an obstacle; and according to the reference driving path, obstacle avoidance driving is carried out along the current lane, unnecessary obstacle avoidance lane change behaviors are avoided as much as possible, and the instantaneity, rationality and safety of behavior decision are improved.
Further, in order to facilitate the vehicle to avoid the obstacle and travel more smoothly, in step 2), before selecting the ordinate of the nth reference point, the method further includes: judging the left side of the obstacle the size between the remaining width W l′、Wr ' of the right side on the lane and the vehicle width, if the left side of the obstacle the remaining width W l′、Wr ' of the right side on the lane is greater than or equal to the vehicle width, the larger of W l′、Wr ' is selected to participate in the calculation of the ordinate of the nth reference point; if only one of the left side and the right side of the obstacle is larger than the vehicle width on the lane, selecting the remaining width to participate in the calculation of the ordinate of the nth reference point.
Further, when the vehicle is in a double lane, the single lane obstacle avoidance running is preferably performed according to the contents in the step 2) and the step 3), and when the left side and the right side of the obstacle are smaller than the left width W l′、Wr' of the vehicle on the lane, the obstacle avoidance road change running is performed;
When the state of the obstacle is a static state, the setting rule of the path planning reference point is as follows: n reference points are selected, n is more than or equal to 5, the abscissas of all the reference points are sequentially arranged at intervals within the range of [0, dis_obs ], the 1 st reference point selects the current coordinate of the vehicle, the ordinate of the nth reference point is the lane width W, and the ordinates of the rest reference points are sequentially arranged from small to large within the range of [0, W ].
The effect is that: if the vehicle is in a double-lane working condition, an obstacle avoidance return and obstacle avoidance lane change strategy is provided, so that the vehicle can change lanes and avoid the obstacle under the condition that single-lane obstacle avoidance running cannot be performed, and the running target is completed.
Further, the state of the obstacle includes, in addition to the stationary state, the state of the obstacle also includes a co-directional travel, a reverse travel, and a lane crossing, and for the case that the state of the obstacle is the co-directional travel, the vehicle keeps the same speed as the obstacle traveling on the current path, and the path planning reference point selection rule is as follows: selecting n reference points along the current straight line direction, wherein the distance between every two adjacent reference points is the same; when the obstacle traverses the lane or runs in the reverse direction, the vehicle is controlled to keep the current path and stop at a certain distance from the obstacle, and the selection rule of the path planning reference point is the same as the reference point selection rule of the same-direction running condition.
In order to enable the vehicle to stably travel on the reference travel path, further, the vehicle further includes: and controlling the vehicle to run according to the set real-time vehicle speed, wherein the calculation formula of the real-time vehicle speed is as follows:
where V is the real-time vehicle speed, D limit is the maximum allowable deviation path distance, V max is the maximum speed, V min is the minimum speed, and D is the distance of the vehicle from the reference travel path, i.e., the distance of the vehicle from the reference path.
The effect is that: the real-time speed planning is carried out according to the distance between the vehicle and the path, so that the stable change of the speed can be ensured, and the running stability of the vehicle can be realized.
In order to determine the reference travel path, the expression of the Bezier curve equation is as follows:
Wherein, P i is a feature point forming a bezier curve, that is, coordinates of each path planning reference point, n is an order of the bezier curve, and t is a normalization parameter.
Drawings
FIG. 1 is a flow chart of a lane obstacle avoidance method for an autonomous vehicle in method embodiment 1 of the present invention;
FIG. 2 is a schematic illustration of the host vehicle in a single lane and no obstacle avoidance return in method embodiment 1 of the present invention;
FIG. 3 is a schematic illustration of the present vehicle in a single lane with obstacle avoidance return in method embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of the present vehicle in embodiment 1 of the method of the present invention in a single lane with obstacle avoidance return and obstacle avoidance lane change;
Fig. 5 is a flow chart of a lane obstacle avoidance method for an autonomous vehicle in method embodiment 2 of the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
Method example 1:
The embodiment provides a lane obstacle avoidance method for an automatic driving vehicle, the whole flow is shown in fig. 1, and the method is realized by the following ideas: according to the movement condition of the obstacle, planning a reference driving path based on a Bezier curve on the current lane; and enabling the vehicle to avoid obstacle to travel on the current lane according to the planned reference travel path. The method comprises the following specific steps:
1) Judging the state of an obstacle in front of a lane, wherein the state of the obstacle comprises: stationary, co-running, reverse running, traversing the lane.
2) According to different states of the obstacle, a path planning reference point is set in combination with the distance Dis_obs between the vehicle and the obstacle. The following modes are adopted for setting:
For the condition of the obstacle state being the same direction driving:
When the obstacle positioned in front of the vehicle running direction of the lane runs in the same direction as the vehicle, the vehicle keeps the same speed as the obstacle and runs on the current path, and the path planning reference point selection rule is as follows: a plurality of reference points are selected along the current straight line direction, for example, five reference points are selected, the distance between every two adjacent reference points is the same, for example, dis_obs/4, and the specific arrangement of each reference point is shown in fig. 2. As other embodiments, the abscissas of all the reference points are orderly arranged at intervals within the range of [0, dis_obs ], and the transverse intervals are flexible, and can be arranged at equal intervals or unequal intervals.
In fig. 2, a first point p1 (x 1, y 1) selects the current coordinates of the vehicle, and a second point p2 (x 2, y 2) selects a point on the path where the nearest point close_a extends backward (dis_obs/4) by 1 meter; the third point p3 (x 3, y 3) selects a point on the path where the nearest point close_a extends backward (dis_obs/4) by 2 meters, the fourth point p4 (x 4, y 4) selects a point on the path where the nearest point close_a extends backward (dis_obs/4) by 3 meters, and the fifth point p5 (x 5, y 5) selects a point on the path where the nearest point close_a extends backward (dis_obs/4) by 4 meters.
For the obstacle state as a cross lane, reverse travel condition:
when the obstacle traverses the lane or runs in the reverse direction, the safety of the running of the vehicle is ensured in order to avoid unnecessary lane changing, the vehicle keeps the current path and stops at a certain distance from the obstacle, and the path planning reference point selection rule is the same as the reference point selection rule of the same-direction running condition.
For the obstacle state to be stationary:
The path reference point setting method in this case is divided into the following two cases:
In the first case, when an obstacle located in front of the driving direction of the vehicle in the lane is stationary and the vehicle is in the single lane, it is first determined whether the vehicle can avoid the obstacle in the single lane. That is, the remaining width of one side of the lane width minus the obstacle width is compared with the vehicle width, and if the remaining width W l′、Wr' of one side is larger than the vehicle width, it is determined that the single lane obstacle avoidance is possible.
The path planning reference point selection rule is as follows: a plurality of reference points are selected, for example, n (n is equal to or greater than 5) reference points are selected, the transverse distance between every two adjacent reference points is Dis_obs/(n-1), the 1 st reference point is selected as the current coordinate of the vehicle, the 2 nd reference point is selected as the point which is on the lane line and has the transverse distance of Dis_obs/(n-1) from the 1 st reference point, the transverse distance between the nth reference point and the 1 st reference point is Dis_obs, the nth reference point takes 1/2 of the residual width W l′、Wr 'on one side, for example, takes 1/2 of the residual width W l' on the left side, then the ordinate of the reference point is (W l+Wl′/2),Wl) which is the ordinate of the left side of the obstacle, if the 1/2 of the residual width W r 'is taken, then the ordinate of the reference point is (W r+Wr′/2),Wr) which is the ordinate of the right side of the obstacle, and the ordinate of the residual reference points (3, …, n-1 reference points) are in the range of [0, l+Wl' ] and the n is not 1, namely, the ordinate can be sequentially increased from the 1 th reference point to the other point according to the rule that the 1 th reference point can be sequentially set from the 1 th point to the 1 th point.
Taking setting 5 reference points as an example for illustration, as shown in fig. 2, the path planning reference points are selected: the first point p1 (x 1, y 1) selects the current coordinates of the vehicle, the second point p2 (x 2, y 2) selects the point with the coordinates (1, 0) in the coordinate system of the vehicle, the third point p3 (x 3, y 3) selects the midpoints of the first point and the fifth point, namely ((x 1+ x 5)/2, (y 1+ y 5)/2), and the fourth and fifth points are selected to be compared with the remaining width of the laneAnd/>If the remaining widths W l′、Wr ' are all greater than or equal to the vehicle width, the larger of W l′、Wr ' is selected to participate in the calculation of the ordinate of the 4 th and 5 th reference points, i.e., the fourth and fifth points select points taken on the perpendicular (max (W l′,Wr ')) to the path points p4 and p 5/2. As shown in fig. 2, there are upper and lower sets of reference points that are optional, so one of the sets of reference points that can provide a greater width of the remainder and more convenient for the vehicle to pass through can be selected; if this problem is not considered, as another embodiment, when the remaining widths of both sides are larger than the vehicle width, one set of reference points may be optionally used as the path planning reference points.
In fig. 2, if one of the remaining widths W l 'or W r' is larger than the vehicle width, the fourth and fifth points are selected to be points W l '/2 or W r'/2 on the perpendicular to the path points p4 and p 5; if the residual width is smaller than the vehicle width and the obstacle is in a single lane, no standby path exists, and the path reference point selection mechanism is the same as the selection rule of the same-direction running condition of the obstacle.
The above is a method for selecting reference points by path planning of 5 reference points, if 6 reference points are required to be selected, the transverse intervals among the reference points are uniformly distributed, the selection principle of the ordinate of the 1 st, 2 nd, 5 th and 6 th reference points is respectively corresponding to the selection method of the ordinate of the 1 st, 2 nd, 4 th and 5 th reference points, and the selection method of the ordinate of the 3 rd and 4 th reference points is not repeated, and according to the ordinate of the last reference point, for example Y= (W l+Wl '/2), the ordinate of the 3 rd reference point is selected as Y/3 and the ordinate of the 4 th reference point is selected as 2Y/3 according to the setting rule from small to large in the range of (0, W l+Wl'/2).
Secondly, when the obstacle positioned in front of the vehicle running direction of the lane is stationary and the vehicle is in a double lane, selecting a path planning reference point to preferentially refer to the method in the first situation, selecting a single lane for obstacle avoidance return as much as possible (the obstacle avoidance return refers to the process of bypassing the obstacle on the single lane to return to the original path), if the remaining width W l′、Wr' is smaller than the vehicle width and the obstacle avoidance return can not be realized, providing an obstacle avoidance lane change when no obstacle exists in front of the vehicle running direction of the other lane, wherein the rule of selecting the path planning reference point is as follows: taking n reference points as an example, the transverse distance between the reference points is Dis_obs/(n-1), the 1 st reference point selects the current coordinate of the vehicle, the 2 nd reference point selects the point which is on the lane line and has the transverse distance of Dis_obs/(n-1) with the 1 st reference point, the transverse distances between the reference points are Dis_obs/(n-1), the longitudinal coordinates of the n-1 th and n-th reference points are lane width W, and the longitudinal coordinates of the rest reference points are sequentially arranged according to the arrangement rule from small to large in the (0, W) range.
Taking 5 reference points as an example, as shown in fig. 3, the first point p1 (x 1, y 1) selects the current coordinate of the vehicle, the second point p2 (x 2, y 2) selects the point with the coordinate of (1, 0) in the coordinate system of the vehicle, the third point p3 (x 3, y 3) selects the midpoint between the first point and the fifth point, that is ((x1+x5)/2, (y1+y5)/2), the fourth point p4 (x 4, y 4) selects the point with the nearest point close_b extending backward (N/4) by 3 meters on the path, and the fifth point p5 (x 5, y 5) selects the point with the nearest point close_b extending backward (N/4) by 4 meters on the path.
3) And planning a reference driving path based on the Bezier curve according to the path planning reference point determined in the step.
Taking five route planning reference points as an example, substituting the coordinates of the five reference points into the constructed Bezier curve equation can obtain a reference driving route. The Bezier curve equation used is as follows:
wherein P i is a characteristic point forming a bezier curve, that is, each path planning reference point, n is an order of the bezier curve, in this example, n=4, and t is a normalization parameter.
4) And controlling the vehicle to run according to the obtained reference running path so as to realize obstacle avoidance running.
The lane obstacle avoidance method of the embodiment has the following characteristics:
Firstly, carrying out vehicle behavior decision according to the state of an obstacle in front of a vehicle, selecting reasonable path planning points to carry out path planning, and realizing the automatic driving function of the vehicle; unnecessary obstacle avoidance behaviors are avoided as much as possible, and the instantaneity, rationality and safety of behavior decision making are improved.
And secondly, under the working condition of double lanes, providing an obstacle avoidance return and obstacle avoidance lane change strategy. Under the working condition of double lanes, the obstacle avoidance return is preferentially selected, and when the obstacle avoidance return cannot be realized in the lane, an obstacle avoidance lane change strategy is provided, so that the flexibility of obstacle avoidance is improved.
Method example 2:
the embodiment provides a lane obstacle avoidance method for an automatic driving vehicle, the whole flow is shown in fig. 5, and the specific steps are as follows:
step one: and calculating reference path information by using a navigation positioning system, wherein the reference path information comprises positioning solution states, horizontal and longitudinal coordinates, course angles, curvature change information and the like of the path point set.
Step two: and judging whether the decision front-end input (information such as perception, positioning and the like) meets the automatic driving condition. The specific judgment content comprises the following steps: positioning and judging; and (3) positioning communication fault judgment and perception fault judgment, and entering an automatic driving mode when positioning and perception are correct and the positioning solution enters an optimal state.
Step three: and judging whether the vehicle is currently in a single lane or a double lane or not according to the pose of the vehicle and the reference path, and whether the vehicle has a lane change condition or not. The specific judging method comprises the following steps: according to the position and course angle information of the vehicle, the nearest points (namely Close-A and Close-B in figure 4) of the two reference paths are searched, and if the distance between the nearest points of the two paths is greater than or equal to the preset minimum double-lane distance, the vehicle is in a double-lane and has a lane change condition. Otherwise, the vehicle is in a single lane, and no standby path exists.
Step four: and carrying out vehicle driving behavior strategy decision based on the states of the vehicle in a single lane or a double lane, the vehicle pose, the reference path and the obstacle, and selecting a path planning reference point.
As shown in fig. 2,3 and 4, the arrow indicates the vehicle traveling direction, the lane width W is assumed, the vehicle body width W V＝Wl+Wr, the distance between the nearest obstacle in front of the vehicle in the lane is dis_obs, and the closest points between the vehicle and the two paths are close_ A, close _b, respectively. The selection rule of the path planning reference point refers to the description in step 2) in the above method embodiment 1, and this embodiment will not be repeated.
Step five: based on the path planning reference point, the Bezier curve is utilized to carry out path planning, the path planning method is described in step 3) in method embodiment 1, and the step is not repeated.
Step six: real-time speed planning is carried out according to the distance between the vehicle and the reference path, the maximum allowable speed and the like, and the relation between the real-time speed v and the distance d between the vehicle and the deviated path is as follows:
Where V is the real-time vehicle speed, D limit is the maximum allowable off-path distance, V max is the maximum speed, V min is the minimum speed, and D is the off-path distance of the vehicle, i.e., the distance of the vehicle from the reference path.
Step seven: and outputting the path information and the speed information to a control end for transverse and longitudinal control, so as to realize automatic driving of the vehicle.
The lane obstacle avoidance method not only can carry out vehicle behavior decision according to the state of the obstacle in front of the vehicle and separate scenes, but also selects reasonable path planning points to carry out path and speed planning, thereby realizing the automatic driving function of the vehicle; the speed planning can be performed in real time according to the distance between the vehicle and the path, so that the stable change of the speed is ensured, and the running stability of the vehicle is realized.
Device example:
the present embodiment provides a lane obstacle avoidance apparatus for an autonomous vehicle, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor is coupled to the memory, and the processor is configured to run program instructions stored in the memory, so as to implement the lane obstacle avoidance method in method embodiment 1 or method embodiment 2, and since the descriptions of the method in method embodiment 1 and method embodiment 2 are sufficiently clear and complete, the description of the method in this embodiment is omitted.
That is, the method in the above method embodiments should be understood that the flow of the master-side, slave-side robot control method may be implemented by computer program instructions. These computer program instructions may be provided to a processor, such as a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus, etc., such that the instructions, which execute via the processor, create means for implementing the functions specified in the above-described method flows.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.
Claims (7)
1. A lane obstacle avoidance method for an autonomous vehicle, comprising the steps of:
1) Judging the state of an obstacle in front of a lane;
2) Setting a path planning reference point according to the state of the obstacle and combining the distance Dis_obs between the vehicle and the obstacle;
The state of the obstacle comprises static state, and in the state, the setting rule of the path planning reference point is as follows: selecting n reference points, wherein n is more than or equal to 5, the horizontal coordinates of all the reference points are sequentially arranged at intervals within the range of [0, dis_ob ], the 1 st reference point is selected as the current coordinate of the vehicle, the vertical coordinate of the nth reference point is (W l+Wl '/2) or (W r+Wr′/2),Wl is the vertical coordinate of the left side edge of the obstacle, W l' is the left side edge of the obstacle and the left width of the left side edge of the obstacle on a lane, W r is the vertical coordinate of the right side edge of the obstacle, W r 'is the left side edge of the obstacle and the left side edge of the obstacle is in the range of [0, W l+Wl'/2 ], and the left side edge of each reference point is arranged in a sequence from small to large;
3) Substituting the path planning reference point into a set Bezier curve equation to plan a reference running path based on the Bezier curve;
4) And controlling the vehicle to run according to the reference running path so as to realize obstacle avoidance running.
2. The lane keep-out method for an autonomous vehicle of claim 1, wherein in step 2), before selecting the ordinate of the nth reference point, further comprising: judging the left side of the obstacle the size between the remaining width W l′、Wr ' of the right side on the lane and the vehicle width, if the left side of the obstacle the remaining width W l′、Wr ' of the right side on the lane is greater than or equal to the vehicle width, the larger of W l′、Wr ' is selected to participate in the calculation of the ordinate of the nth reference point; if only one of the left side and the right side of the obstacle is larger than the vehicle width on the lane, selecting the remaining width to participate in the calculation of the ordinate of the nth reference point.
3. The lane obstacle avoidance method of an autonomous vehicle according to claim 2, wherein when the vehicle is in a double lane, single lane obstacle avoidance travel is performed preferentially according to the contents in step 2) and step 3), and when the left and right sides of the obstacle are both smaller than the vehicle width, obstacle avoidance lane change travel is performed;
When the state of the obstacle is a static state, the setting rule of the path planning reference point is as follows: n reference points are selected, n is more than or equal to 5, the abscissas of all the reference points are sequentially arranged at intervals within the range of [0, dis_obs ], the 1 st reference point selects the current coordinate of the vehicle, the ordinate of the nth reference point is the lane width W, and the ordinates of the rest reference points are sequentially arranged from small to large within the range of [0, W ].
4. A lane obstacle avoidance method for an autonomous vehicle as claimed in any one of claims 1 to 3 wherein the condition of the obstacle further comprises co-directional travel, reverse travel, traversing the lane, for the condition of the obstacle condition being co-directional travel, the vehicle is travelling at the same speed as the obstacle on the current path, the path planning reference point selection rules being: selecting n reference points along the current straight line direction, wherein the distance between every two adjacent reference points is the same; when the obstacle traverses the lane or runs in the reverse direction, the vehicle is controlled to keep the current path and stop at a certain distance from the obstacle, and the selection rule of the path planning reference point is the same as the reference point selection rule of the same-direction running condition.
5. A lane obstacle avoidance method for an autonomous vehicle as claimed in any one of claims 1 to 3 further comprising: and controlling the vehicle to run according to the set real-time vehicle speed, wherein the calculation formula of the real-time vehicle speed is as follows:
where V is the real-time vehicle speed, D limit is the maximum allowable deviation path distance, V max is the maximum speed, V min is the minimum speed, and D is the distance of the vehicle from the reference travel path, i.e., the distance of the vehicle from the reference path.
6. A lane obstacle avoidance method for an autonomous vehicle as claimed in any one of claims 1 to 3 wherein the expression of the bezier curve equation is as follows:
Wherein, P i is a feature point forming a bezier curve, that is, coordinates of each path planning reference point, n is an order of the bezier curve, and t is a normalization parameter.
7. A lane obstacle avoidance apparatus for an autonomous vehicle comprising a memory and a processor, and a computer program stored on the memory and running on the processor, the processor being coupled to the memory, wherein execution of the computer program by the processor implements the lane obstacle avoidance method of an autonomous vehicle as claimed in any one of claims 1 to 6.
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| CN202011329935.6A CN114537381B (en) | 2020-11-24 | 2020-11-24 | Lane obstacle avoidance method and device for automatic driving vehicle |
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| CN202011329935.6A CN114537381B (en) | 2020-11-24 | 2020-11-24 | Lane obstacle avoidance method and device for automatic driving vehicle |
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| CN115357034B (en) * | 2022-10-21 | 2023-01-03 | 上海伯镭智能科技有限公司 | Unmanned mine car steering control method based on intelligent traffic |
| CN115571164A (en) * | 2022-11-03 | 2023-01-06 | 中科天极(新疆)空天信息有限公司 | Obstacle avoidance method and system based on automatic driving |
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