Motion path planning method of pilotless automobile when encountering obstacle and system thereof

Abstract

The invention discloses a motion path planning method of a pilotless automobile when encountering an obstacle. The method comprises the following steps of detecting traffic states of a current lane where a current automobile is located and two sides of adjacent lanes in real time; when the obstacle is detected to be located at the current lane, combining the traffic states of the two sides of the adjacent lanes, determining a type of the obstacle; according to the type of the obstacle, determining a corresponding motion path planning strategy; and executing the corresponding motion path planning strategy, and through lane changing, deceleration braking or obstacle bypassing, realizing obstacle avoidance processing. The invention also discloses a corresponding system. In the invention, surrounding road traffic environments and other automobile states can be integratedly considered, and the nearby automobile and the obstacle of the lane can be automatically and safely bypassed so that safety and comfortableness of the pilotless automobile are increased.

Description

technical field [0001] The invention relates to the technical field of unmanned vehicles, in particular to a method and system for planning a motion path when an unmanned vehicle encounters an obstacle. Background technique [0002] The research and development of driverless cars is getting more and more attention, but to make driverless cars safer, how to enable smart cars to take into account road traffic conditions and make appropriate and smooth maneuvers around target obstacles is an important issue. subject. [0003] In the existing technology, the local path obstacle control of fully automatic unmanned vehicles is not very perfect, and there are more or less potential safety hazards. For example, when there is an obstacle in front of the lane, the existing control technology Generally, a simple control scheme is adopted to change lanes if they can change lanes, and to slow down or stop if they cannot change lanes. However, it is difficult for this control scheme to ...

AI Technical Summary

Problems solved by technology

[0003] In the existing technology, the local path obstacle control of fully automatic unmanned vehicles is not very perfect, and there are more or less potential safety hazards. For example, when there is an obstacle in front of the lane, the existing control technology Generally, a simple control scheme is adopted to change lanes if they can change lanes, and slow down or stop if they cannot change lanes.

However, it is difficult for this control scheme to take into account various complex working conditions on social roads. At the same time, it is easy to be rear-ended by vehicles coming from behind because of encroaching on adjacent lanes without considering the conditions of vehicles in adjacent lanes. Significantly aimed at the obstacle avoidance action of high-speed vehicles entering the lane ahead, this will more or less trigger automatic lane change or violent braking action when there is no need to change lane or brake, which will bring serious discomfort to the occupants , even causing security issues

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