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Determining method for chance of avoiding barriers and changing lane of vehicle and control method of avoiding barriers and changing lane

A technology for determining methods and control methods, applied in vehicle position/route/height control, two-dimensional position/course control, non-electric variable control, etc., can solve problems such as automatic obstacle avoidance or unreasonable lane-changing control strategies, Achieve the effect of solving the unreasonable control strategy of automatic obstacle avoidance or lane change

Active Publication Date: 2019-07-09
ZHENGZHOU YUTONG BUS CO LTD
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  • Claims
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Problems solved by technology

[0004] The purpose of the present invention is to provide a method for determining the timing of vehicle obstacle avoidance and lane change and a control method for obstacle avoidance and lane change, so as to solve the problem of unreasonable automatic obstacle avoidance or lane change control strategies in the automatic driving of smart cars

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  • Determining method for chance of avoiding barriers and changing lane of vehicle and control method of avoiding barriers and changing lane
  • Determining method for chance of avoiding barriers and changing lane of vehicle and control method of avoiding barriers and changing lane
  • Determining method for chance of avoiding barriers and changing lane of vehicle and control method of avoiding barriers and changing lane

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Embodiment Construction

[0040] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0041] The present invention provides a control method for vehicle obstacle avoidance and lane change, which can be applied to unmanned vehicles, such as figure 1 As shown, the unmanned vehicle includes a lateral control module, a longitudinal control module, an information fusion module and a decision-making module, wherein the information fusion module is set for sampling and connecting ZigBee, first-line laser radar, ultrasonic radar, red street light signal radio frequency receiver, Inertial navigation GPS, lane line recognition camera and millimeter-wave radar, and process or analyze the sampled signal; the input end of the decision-making module is connected to the information fusion module, which is used to collect the output signal of the information fusion module, and simultaneously carry logical judgment and output control signals To the lateral con...

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Abstract

The invention relates to the field of automatic control over intelligent vehicles, in particular to a determining method for a chance of avoiding barriers and changing a lane of a vehicle and a control method of avoiding the barriers and changing the lane. The determining method for the chance of changing the lane comprises the steps that information of the surrounding barriers of the vehicle andinformation of lane conditions are acquired, it is judged whether or not the surrounding barriers of the vehicle and the vehicle meet set conditions, and if yes, it is judged that the vehicle can avoid the barriers and change the lane; according to the coordinates of a starting point, the coordinates of a target point and the lane heading angle, curve fitting is conducted, and a path from the coordinates of the starting point to the coordinates of the target point is obtained and taken as a lane changing path; through the intelligent environment sensing capacity of the vehicle, safe running ofthe vehicle is ensured, the path of avoiding the barriers and changing the lane is intelligently planned, and the problem is solved that during automatic driving of the intelligent vehicle, a controlstrategy of automatically avoiding the barriers or changing the lane is unreasonable.

Description

technical field [0001] The invention relates to the field of automatic control of intelligent vehicles, in particular to a method for determining the timing of vehicle obstacle avoidance and lane change and a control method for obstacle avoidance and lane change. 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] T...

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Application Information

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IPC IPC(8): B60W30/18B60W40/04G05D1/02
CPCB60W30/18163B60W40/04G05D1/021
Inventor 吴光耀苏常军杨学青刘振楠王辉
Owner ZHENGZHOU YUTONG BUS CO LTD
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