Automobile obstacle avoidance lane-change path planning method

Abstract

The invention belongs to the field of the automatic control of intelligent automobiles and relates to an automobile obstacle avoidance lane-change path planning method. According to the method, initial point coordinates, target point coordinates and a road heading angle are acquired through corresponding equipment, wherein the initial point coordinates are the geodetic coordinates of a set distance which is covered by an automobile along a travel direction from a current automobile position, the target point coordinates are geodetic coordinates of a position of which the distance is the sum ofthe body width of the automobile by which the end point of an obstacle ahead deviates from a lane-change direction and a set safe lateral distance, and the road heading angle is the automobile heading angle of the automobile which has arrived at the target point coordinates; curve fitting is carried out according to the initial point coordinates, the target point coordinates and the road headingangle, so that a lane-change path from the initial point coordinates to the target point coordinates can be obtained, so that the lane-change path of the automobile can be planned reasonably; and therefore, the problem that the automatic obstacle avoidance or lane-changing path planning is unreasonable in the automatic driving of an intelligent automobile is solved.

Description

technical field [0001] The invention relates to the field of automatic control of intelligent vehicles, in particular to a planning method for vehicle obstacle avoidance and lane change paths. Background technique [0002] The general situation of intelligent vehicles is to add advanced sensors, controllers and actuators to the basic structure of ordinary vehicles, and realize the intelligent exchange of information between vehicles, roads and drivers through on-board sensing systems and information systems, so that vehicles have certain Intelligent environment perception ability, identify the path, analyze the current road conditions, combine the position of the vehicle, detect obstacles, realize real-time early warning or stop in time according to the actual situation, avoid obstacles, improve driving safety and configure reasonable driving according to the path and driver's wishes Strategy. [0003] There is a patent document with the Chinese patent announcement number C...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a planning method for vehicle obstacle avoidance and lane change path, which is used to solve the problem of unreasonable planning of automatic obstacle avoidance or lane change path in the automatic driving of smart cars

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