Method and device for actively avoiding obstacle by vehicle and automobile

Abstract

The invention relates to a method and device for actively avoiding an obstacle by a vehicle and an automobile. The effect of actively conducting obstacle avoidance when the front running direction ofthe vehicle is blocked by the obstacle is achieved; the method for actively avoiding the obstacle of the vehicle comprises the following steps that when the vehicle is in a self-adaptive cruise control mode and a lane centering driving mode at a constant-speed running state, whether the obstacle which partially occupies a running lane of the vehicle exists in the front or not is detected; if the obstacle exists, the type of the obstacle is determined; a first residual transverse width of the vehicle after the running lane is occupied by a static obstacle is determined when the type of the obstacle is the static obstacle; a second residual transverse width of the vehicle after the running lane is occupied by a moving obstacle when the vehicle runs to a possible collision position when the type of the obstacle is the moving obstacle; and the vehicle is controlled to actively carry out the obstacle avoidance according to the first residual transverse width or the second residual transverse width.

Description

technical field [0001] The invention relates to the technical field of automobile driving assistance, in particular to a method, a device and an automobile for actively avoiding obstacles by a vehicle. Background technique [0002] In recent years, autonomous driving technology has been hotly discussed in various fields, including Internet companies such as Baidu, Tencent, Google, and Huawei. They have also conducted in-depth research on autonomous driving technology and achieved breakthrough research results. The most representative masterpieces include Baidu Apollopilot, Audi A8AI, Tesla Autopilot and other systems. According to the SAEJ3016 automatic driving classification standard, L3 and below solutions are defined as assisted driving (ADAS), and L4-L5 are defined as automatic driving. At present, L2 and L2.5 (L2+) functions have been mass-produced in most models at home and abroad, and their penetration rate is increasing day by day. L3 functions will also be graduall...

AI Technical Summary

Problems solved by technology

L2 functions mainly include ACC, AEB, LKA, LCS and other functions. ACC, AEB-C&I are mainly realized by the interactive scheme of single millimeter wave radar and vehicle electronic stability control module. The main disadvantage is that the recognition rate of stationary targets needs to be improved; AEB- P is mainly realized by the 1R1V fusion scheme, which optimizes the recognition of stationary objects and adds automatic emergency automatic for pedestrians; LKA and LCS mainly realize the lateral control between lanes through the interaction between the intelligent camera and the vehicle's electronic power steering control module (EPS). The main disadvantages Limited by hardware, the cut-in and cut-out working conditions of the target vehicle are limited

Nowadays, the automatic driving assistance function has been mass-produced in the market. The existing automatic driving assistance function alone cannot perform active avoidance operations in the scene where the road ahead is occupied by obstacles, and requires the driver to actively intervene.

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