CN109987092A - A kind of determination method on vehicle obstacle-avoidance lane-change opportunity and the control method of avoidance lane-change - Google Patents

A kind of determination method on vehicle obstacle-avoidance lane-change opportunity and the control method of avoidance lane-change Download PDF

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CN109987092A
CN109987092A CN201711460191.XA CN201711460191A CN109987092A CN 109987092 A CN109987092 A CN 109987092A CN 201711460191 A CN201711460191 A CN 201711460191A CN 109987092 A CN109987092 A CN 109987092A
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vehicle
lane
change
obstacle
speed
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CN109987092B (en
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吴光耀
苏常军
杨学青
刘振楠
王辉
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Yutong Bus Co Ltd
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Zhengzhou Yutong Bus Co Ltd
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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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles

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  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The present invention relates to intelligent automobile automation fields, the determination method on especially a kind of vehicle obstacle-avoidance lane-change opportunity and the control method of avoidance lane-change, the determination method on the lane-change opportunity is by obtaining obstacles around the vehicle information and traffic information, judge whether impose a condition between obstacles around the vehicle and vehicle, determine that vehicle can carry out avoidance lane-change when meeting and imposing a condition, simultaneously, it is carried out curve fitting according to starting point coordinate, coordinate of ground point and road course angle, the path from starting point coordinate to coordinate of ground point is obtained, which is lane-change path；By Vehicular intelligent environment sensing ability, guarantees the planning avoidance lane-change path of intelligence while vehicle safe driving, solve the problems, such as that automatic obstacle-avoiding or lane-change control strategy are unreasonable in intelligent automobile automatic Pilot.

Description

A kind of determination method on vehicle obstacle-avoidance lane-change opportunity and the control method of avoidance lane-change
Technical field
The present invention relates to intelligent automobile automation field, the determination method on especially a kind of vehicle obstacle-avoidance lane-change opportunity and The control method of avoidance lane-change.
Background technique
Intelligent vehicle ordinary circumstance is exactly to increase advanced sensor, controller in the foundation structure of common vehicle and hold Luggage is set, and the intelligent information exchange of vehicle, road and driver etc. are realized by vehicle-mounted sensor-based system and information system, has vehicle Standby certain intelligent environment sensing capability, identifies path, analyzes present road situation, in conjunction with vehicle location, detects barrier, real Existing real-time early warning stops, avoidance in time according to reality, improves the safety of traveling and according to path and driver's wish The reasonable traveling strategy of configuration.
Having Chinese patent notification number is that the patent document of CN104407613B discloses a kind of avoidance path smooth optimization side Method, this method obtain barrier region range first；Then the start node and destination node of avoidance searching route are obtained, and just Begin to define start node to be label starting point, destination node is label terminal；It obtains and is connected between label starting point and label terminal again The each point coordinate of line；Then by judging to obtain whether coordinate is located within the scope of barrier region, after judgement redefines Whether label starting point is equal to label terminal, carries out corresponding operating to obtain smooth paths；Finally by the path start node of acquisition It is defined as label terminal, destination node is defined as label starting point, re-starts judgement operation, keeping away after finally obtaining smooth optimization Hinder path.This method can reduce the accumulative turnover number in avoidance searching route, reduce accumulative turn in avoidance searching route Dog-ear degree effectively reduces the length of avoidance searching route.But the target point of vehicle can not be determined according to real-time traffic information Coordinate is set, meanwhile, the although less length of avoidance searching route in the avoidance path that is obtained by above method smooth optimization, but For vehicle driving, reasonability is poor, has certain influence to driving safety.
Summary of the invention
The object of the present invention is to provide a kind of determination method on vehicle obstacle-avoidance lane-change opportunity and the control method of avoidance lane-change, To solve the problems, such as that automatic obstacle-avoiding or lane-change control strategy are unreasonable in intelligent automobile automatic Pilot.
To achieve the above object, the present invention provides a kind of determination method on vehicle obstacle-avoidance lane-change opportunity, including identified below Method and technology scheme:
Determine method scheme one: a kind of determination method on vehicle obstacle-avoidance lane-change opportunity, method includes the following steps:
1) whether detection vehicle front has barrier, if so, judging whether the distance of vehicle front barrier and speed are full Foot first imposes a condition, if satisfied, detection vehicle right side or left-hand lane obstacle information；
2) judge whether the lateral distance of vehicle front barrier and its right side or left side barrier is greater than set distance；
3) if more than then judging whether there is barrier within the scope of vehicle right side or at least one lane width of left side；
If 4) judge whether the distance at vehicle right side rear or left side rear obstacle and speed meet without barrier Second imposes a condition, if satisfied, then to the right or left side lane-change.
Beneficial effect is that this determination method scheme one is determined by obtaining obstacles around the vehicle information and traffic information Whether vehicle carries out lane-change maneuver, by the intelligent environment sensing capability of vehicle, guarantees intelligence while vehicle safe driving It plans avoidance lane-change, solves the problems, such as that automatic obstacle-avoiding or lane-change control strategy are unreasonable in intelligent automobile automatic Pilot.
Determine method scheme two: on the basis of determining method scheme one, described first imposes a condition are as follows: vehicle front barrier The speed of object is hindered to be less than the 1/2 of this vehicle speed, and front obstacle is more than or equal to two this vehicle vehicle bodies at a distance from this vehicle.
Determine method scheme three: on the basis of determining method scheme one or determining method scheme two, second setting Condition are as follows: vehicle right side rear or left side rear obstacle at a distance from this vehicle rear end not less than 1 this vehicle vehicle body and speed it is small In this vehicle speed；Or vehicle right side rear or left side rear obstacle speed are greater than this vehicle speed, and at a distance from this vehicle rear end Greater than 2 this vehicle vehicle bodies.
Determine method scheme four: on the basis of determining method scheme three, the set distance is 1 lane width.
The present invention provides a kind of control method of vehicle obstacle-avoidance lane-change, including following control method technical solution:
Control method scheme one: a kind of control method of vehicle obstacle-avoidance lane-change, method includes the following steps:
1) whether detection vehicle front has barrier, if so, judging whether the distance of vehicle front barrier and speed are full Foot first imposes a condition, if satisfied, detection vehicle right side or left-hand lane obstacle information；
2) judge whether the lateral distance of vehicle front barrier and right side or left side barrier is greater than set distance；
3) if more than then judging whether there is barrier within the scope of vehicle right side or at least one lane width of left side；
If 4) judge whether the distance at vehicle right side rear or left side rear obstacle and speed meet without barrier Second imposes a condition, if satisfied, then to the right or left side lane-change；
5) when vehicle is to the left or when the lane-change of right side, the starting point coordinate, coordinate of ground point and road course of lane-change are determined Angle；
6) it is carried out curve fitting, is obtained from starting point coordinate according to starting point coordinate, coordinate of ground point and road course angle To the path of coordinate of ground point, which is lane-change path.
Control method scheme two: on the basis of control method scheme one, described first imposes a condition are as follows: vehicle front barrier The speed of object is hindered to be less than the 1/2 of this vehicle speed, and front obstacle is more than or equal to two this vehicle vehicle bodies at a distance from this vehicle.
Control method scheme three: on the basis of control method scheme one or control method scheme two, second setting Condition are as follows: vehicle right side rear or left side rear obstacle at a distance from this vehicle rear end not less than 1 this vehicle vehicle body and speed it is small In this vehicle speed；Or vehicle right side rear or left side rear obstacle speed are greater than this vehicle speed, and at a distance from this vehicle rear end Greater than 2 this vehicle vehicle bodies.
Control method scheme four: on the basis of control method scheme three, the set distance is 1 lane width.
Control method scheme five: on the basis of control method scheme one, control method scheme two or control method scheme four On, the method for the curve matching is B-spline method.
Control method scheme six: on the basis of control method scheme five, the B-spline method is B-spline Curve method.
Control method scheme seven: on the basis of control method scheme six, there is maximum in the B-spline curves planning process The calculating of boundary's curvature is as follows: the shape of B-spline curves is determined by control point completely, for the determining Duan Sanci in three control points B-spline curves increase the midpoint of two line segments as new control point, and B-spline shape depends on lesser line in two line segments The angle α of segment length L and two line segments obtain the Curvature varying of B-spline curves are as follows:
It enablesIt can be in the hope of as u=0.5, κ has maximum value；Curvature maximum substitute into above formula, thus obtain L and The relationship of α between the two:
Wherein, any two adjacent control wires section meets above-mentioned relation, that is, can guarantee the curvature of B-spline curves.
Control method scheme eight: in control method scheme one, control method scheme two, control method scheme four, controlling party On the basis of method scheme six or control method scheme seven, before vehicle reaches target point, also judge whether vehicle meets return item Part, if satisfied, then being returned according to setting return path control vehicle；If not satisfied, then controlling vehicle straight trip；
The return condition is specific as follows: 1, clear within the scope of vehicle returning direction side setting safe distance；2, The rear clear of vehicle returning direction side, or there are barrier but apart from this tailstock portion be greater than set it is safe when away from； 3, the front clear of vehicle returning direction side, or there is barrier but speed to be greater than this vehicle speed.
Detailed description of the invention
Fig. 1 is a kind of avoidance lane-change system schematic of intelligent automobile；
Fig. 2 is a kind of control method flow chart of vehicle obstacle-avoidance lane-change；
Fig. 3 is the convex closure schematic diagram of B-spline curves；
Fig. 4 is the variable of two influence B-spline Curve shapes；
Fig. 5 is a kind of B-spline curves planning schematic diagram of the control method of vehicle obstacle-avoidance lane-change.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawing.
The present invention provides a kind of control method of vehicle obstacle-avoidance lane-change, can be applied in pilotless automobile, such as Fig. 1 institute Show, which includes crosswise joint module, longitudinally controlled module, information Fusion Module and decision-making module, wherein letter It ceases Fusion Module setting and is received for sampling connection ZigBee, a line laser radar, ultrasonic radar, red street lamp signal RF Device, inertial navigation GPS, Lane detection video camera and millimetre-wave radar, and sampled signal is handled or parsed；Decision-making module Input terminal link information Fusion Module, for acquiring the output signal of information Fusion Module, while carrying logic judgment and output Signal is controlled to crosswise joint module and longitudinally controlled module；Crosswise joint module controls the acceleration and deceleration of vehicle, longitudinal to control Molding block controls steering wheel angle, to control vehicle obstacle-avoidance, lane-change.
The present invention provides a kind of control method of vehicle obstacle-avoidance lane-change, as shown in Fig. 2, when including a kind of vehicle obstacle-avoidance lane-change The determination method of machine, the specific steps are as follows:
1, obstacles around the vehicle and traffic information are obtained.
Vehicle front obstacle, rear obstacle, left and right front obstacle, left and right rear are acquired by radar or camera The information and traffic information of barrier, for example, with barrier spacing, barrier speed, lane width etc..
2, by the determination method on vehicle obstacle-avoidance lane-change opportunity, judge whether to meet lane-change condition.
Lane-change condition needs to guarantee vehicle safety and passenger comfort, and the generation of lane-changing intention needs to carry out multi-group data Comparison, judgment and detection repeatedly just carry out steering operation when thinking to meet lane-change condition, meanwhile, when the intention of lane-change generates Intelligent vehicle is as human driver, and preset turn signal provides temporal guarantee before steering, keeps intelligent vehicle smooth Ground incorporates normal traffic flow.But the width value for turning to intention time cannot be excessive, spends the opportunity that senior general misses lane-change；Also not Can be too small, it is too small, reduce the driving safety of vehicle.The determination method on vehicle obstacle-avoidance lane-change opportunity, specific steps include:
1) whether detection vehicle front has barrier, if so, judging whether the distance of vehicle front barrier and speed are full Foot first imposes a condition, if satisfied, detection vehicle right side or left-hand lane obstacle information；
2) judge whether the lateral distance of vehicle front barrier and right side or left side barrier is greater than set distance；
3) if more than then judging whether there is barrier within the scope of vehicle right side or at least one lane width of left side；
If 4) judge whether the distance at vehicle right side rear or left side rear obstacle and speed meet without barrier Second imposes a condition, if satisfied, then to the right or left side lane-change.
It wherein first imposes a condition are as follows: the speed of vehicle front barrier is less than the 1/2 of this vehicle speed, and preceding object Object is more than or equal to two this vehicle vehicle bodies at a distance from this vehicle；Second imposes a condition are as follows: vehicle right side rear or left side rear barrier Hinder object at a distance from this vehicle rear end not less than 1 this vehicle vehicle body and speed is less than this vehicle speed；Or vehicle right side rear or left side Rear obstacle speed is greater than this vehicle speed, and is greater than 2 this vehicle vehicle bodies at a distance from this vehicle rear end；Set distance is 1 vehicle Road width.
Above-mentioned Rule of judgment can also optimize configuration according to experimental data:
For example, simulation mankind's driving habit, when vehicle front barrier speed be less than this vehicle speed 1/2, and with it is preceding The distance of square barrier is more than two vehicle bodies；If lane-change to the right, width of the front obstacle apart from another barrier in right side Degree is greater than 1 lane width, and its speed is greater than this vehicle speed, and similarly, if wanting Zuo Huandao, front obstacle distance is left The width of another barrier in side is also greater than a lane width, and its speed is greater than this vehicle speed；
It is to be not allow for any barrier within the scope of one lane width in right side meanwhile when vehicle determines lane-change to the right Information；It is the information for being not allow for any barrier within the scope of one lane width in left side when vehicle determines lane-change to the left；
Furthermore the same with mankind's driving vehicle, the mankind are after generating lane-changing intention, after also being looked over by rearview mirror Square barrier situation, judges whether lane-change, it is also necessary to meet distance of the rear obstacle apart from this vehicle rear end will 2 vehicle bodies with On or distance of the rear obstacle apart from this vehicle rear end will be more than 1 vehicle body, and the speed of rear obstacle is less than This vehicle speed.
If 3, meeting above-mentioned condition, according to setting avoidance path clustering vehicle lane-changing.
When meeting lane-change condition, i.e., controllable vehicle carries out lane-change, and intelligent automobile needs to be carried out according to the path of setting Lane-change, it is therefore desirable to which the path of vehicle obstacle-avoidance lane-change is planned.
When vehicle carries out lane-change, the starting point coordinate, coordinate of ground point and road course angle of lane-change are determined；According to starting Point coordinate, coordinate of ground point and road course angle carry out curve fitting, and obtain the path from starting point coordinate to coordinate of ground point, The path is lane-change path.
Wherein, starting point coordinate is that the geodetic coordinates of current vehicle position or the earth after vehicle heading 0.2m are sat Mark；Coordinate of ground point be front obstacle endpoint to lane-change direction deviate half body width of this vehicle and set safe lateral distance it Known with the information of the geodetic coordinates at place, front obstacle endpoint by laser radar；Road course angle is to be obtained by high definition map.
The essence of path planning is to calculate the curve of connection an initial position and final position, the requirement of path computing With it is critical that curve wants continuous and derivable and curvature bounded.There are many curve is available at present: polynomial curve, shellfish Sai Er curve and B-spline curves etc., wherein B-spline is relatively easy for the control and calculating of curvature, the method is as follows:
Pass through n+1 control pointAnd n+k+1 Parameter nodes vectorDetermine k rank, That is k-1 B-spline curves, expression formula are as follows:
Wherein Bi,k(u) it is known as Un,kUpper k rank B-spline basic function, the basic function are determined by deBoox-Cox recurrence relation, are closed It is that formula is as follows:
And the property of B-spline curves according to the present invention has:
1) continuity: in r multiple knot uiC is at least at (k-1≤i≤n)k-1-r, the continuity of whole curve is not less than k-1-rmax, wherein rmaxIndicate node uiThe maximum value of tuple.
2) locality: Bi,k(u) only in section [ui,ui+1) on take positive value, be 0 on other sections, therefore B-spline curves In parameter section [ui,ui+1) part line segment on (k-1≤i≤n) only andTotal k control vertex is related.
3) convex closure: B-spline curves are in parameter section [ui,ui+1) part on (k-1≤i≤n) is located at this k control In the convex closure on vertex, as shown in Figure 3.
According to the constraint of auto model, curve continuity and maximum curvature bounded are the requirements that path curve must satisfy. Other types curve is compared, the Boundary Condition for Solving of polynomial curve generally requires to find out analytic solutions using numerical method, solves Process is cumbersome；The control points and order of a curve number of Bezier correspond, if required path is longer, are not increasing song In the case where line order, the control ability of dominating pair of vertices curve shape weakens；B-spline curves are general Beziers, It controls points and curve order does not have positive connection, and boundary condition and curvature limitation can be suitable by selecting Control point meets, and does not need to solve complicated numerical value and calculates, since cubic B-spline is sufficient for C2Continuity, to meet The requirement of vehicle movement, therefore select B-spline Curve as path curve.The maximum bounded curvature estimation of B-spline is as follows:
As shown in figure 4, the shape of B-spline curves is determined by control point completely, one section three determined for three control points Secondary B-spline curves increase the midpoint of two line segments as new control point, and B-spline shape depends on lesser in two line segments The angle α of line segment length L and two line segments, wherein it is assumed that two lines segment length is equal, be so that length is lesser when reality calculates Standard is certain when wherein a line segment length increases if the line segment calculating with smaller length can satisfy curvature requirement Also meet curvature requirement, obtain the Curvature varying of B-spline curves are as follows:
It enablesIt can be in the hope of as u=0.5, κ has maximum value；Curvature maximum substitutes into above formula, to obtain L and α Relationship between the two:
Wherein, any two adjacent control wires section meets above-mentioned relation, that is, can guarantee the curvature of B-spline curves.
The path that B-spline curves are cooked up is global path, as shown in figure 5, including avoidance path 2 and the setting of setting Return path 4, wherein when vehicle obstacle-avoidance lane-change, travelled from avoidance origin coordinates point 1 to avoidance according to the avoidance path 2 of setting Coordinates of targets point 3；When vehicle returns, travelled from avoidance coordinates of targets point 3 to final position coordinate according to the return path 4 of setting Point 6.
4, judge whether to meet return condition.
If satisfied, then being returned according to setting return path control vehicle；If not satisfied, then controlling vehicle straight trip.
It is specific as follows wherein to return to condition: 1, clear within the scope of vehicle returning direction side setting safe distance；2, The rear clear of vehicle returning direction side, or there are barrier but apart from this tailstock portion be greater than set it is safe when away from； 3, the front clear of vehicle returning direction side, or there is barrier but speed to be greater than this vehicle speed.
In conclusion a kind of control method of vehicle obstacle-avoidance lane-change provided by the invention, as shown in figure 5, intelligent vehicle changes Road is intended to after generating, and path planning, including avoidance origin coordinates point 1, avoidance coordinates of targets point 3 will be carried out according to B-spline curves With final position coordinate points 6 and road course angle；Vehicle reach avoidance origin coordinates point when start along setting avoidance path 2 into Row form, vehicle reach avoidance coordinates of targets point 3 when, judged whether to meet return condition according to the instruction of decision-making module, if Meet return condition, then controls setting return path 4 that vehicle is obtained according to B-spline curves from avoidance coordinates of targets 3 to end of point Stop bit is set coordinate points 6 and is returned, if being unsatisfactory for return condition, controls vehicle and keeps straight on from avoidance coordinates of targets point 3 along avoidance Path 5 is travelled.
Specific embodiment of the present invention is presented above, but the present invention is not limited to described embodiment. Under the thinking that the present invention provides, to the skill in above-described embodiment by the way of being readily apparent that those skilled in the art Art means are converted, are replaced, are modified, and play the role of with the present invention in relevant art means it is essentially identical, realize Goal of the invention it is also essentially identical, the technical solution formed in this way is to be finely adjusted to be formed to above-described embodiment, this technology Scheme is still fallen in protection scope of the present invention.

Claims (10)

1. a kind of determination method on vehicle obstacle-avoidance lane-change opportunity, which is characterized in that method includes the following steps:
1) whether detection vehicle front has barrier, if so, judging whether the distance of vehicle front barrier and speed meet the One imposes a condition, if satisfied, detection vehicle right side or left-hand lane obstacle information；
2) judge whether the lateral distance of vehicle front barrier and its right side or left side barrier is greater than set distance；
3) if more than then judging whether there is barrier within the scope of vehicle right side or at least one lane width of left side；
If 4) judge whether the distance at vehicle right side rear or left side rear obstacle and speed meet second without barrier It imposes a condition, if satisfied, then to the right or left side lane-change.
2. the determination method on vehicle obstacle-avoidance lane-change opportunity according to claim 1, which is characterized in that the first setting item Part are as follows: the speed of vehicle front barrier be less than this vehicle speed 1/2, and front obstacle with this vehicle at a distance from greater than etc. In two this vehicle vehicle bodies.
3. the determination method on vehicle obstacle-avoidance lane-change opportunity according to claim 1 or 2, which is characterized in that described second sets Fixed condition are as follows: vehicle right side rear or left side rear obstacle are not less than 1 this vehicle vehicle body and speed at a distance from this vehicle rear end Less than this vehicle speed；Or vehicle right side rear or left side rear obstacle speed is greater than this vehicle speed, and with this vehicle rear end away from From greater than 2 this vehicle vehicle bodies.
4. the determination method on vehicle obstacle-avoidance lane-change opportunity according to claim 3, which is characterized in that the set distance is 1 lane width.
5. a kind of control method of vehicle obstacle-avoidance lane-change, which is characterized in that method includes the following steps:
1) whether detection vehicle front has barrier, if so, judging whether the distance of vehicle front barrier and speed meet the One imposes a condition, if satisfied, detection vehicle right side or left-hand lane obstacle information；
2) judge whether the lateral distance of vehicle front barrier and right side or left side barrier is greater than set distance；
3) if more than then judging whether there is barrier within the scope of vehicle right side or at least one lane width of left side；
If 4) judge whether the distance at vehicle right side rear or left side rear obstacle and speed meet second without barrier It imposes a condition, if satisfied, then to the right or left side lane-change；
5) when vehicle is to the left or when the lane-change of right side, the starting point coordinate, coordinate of ground point and road course angle of lane-change are determined；
6) it is carried out curve fitting, is obtained from starting point coordinate to mesh according to starting point coordinate, coordinate of ground point and road course angle The path of punctuate coordinate, the path are lane-change path.
6. the control method of vehicle obstacle-avoidance lane-change according to claim 5, which is characterized in that described first imposes a condition Are as follows: the speed of vehicle front barrier is less than the 1/2 of this vehicle speed, and front obstacle is more than or equal at a distance from this vehicle Two this vehicle vehicle bodies.
7. the control method of vehicle obstacle-avoidance lane-change according to claim 5 or 6, which is characterized in that the second setting item Part are as follows: vehicle right side rear or left side rear obstacle are at a distance from this vehicle rear end not less than 1 this vehicle vehicle body and speed is less than This vehicle speed；Or vehicle right side rear or left side rear obstacle speed are greater than this vehicle speed, and big at a distance from this vehicle rear end In 2 this vehicle vehicle bodies.
8. the control method of vehicle obstacle-avoidance lane-change according to claim 7, which is characterized in that the set distance is 1 Lane width.
9. according to the control method of vehicle obstacle-avoidance lane-change described in claim 5,6 or 8, which is characterized in that the curve matching Method be B-spline method.
10. the control method of vehicle obstacle-avoidance lane-change according to claim 9, which is characterized in that the B-spline method is three times B-spline curves method.
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CN113916246A (en) * 2021-09-26 2022-01-11 江苏徐工工程机械研究院有限公司 Unmanned obstacle avoidance path planning method and system
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CN114379576A (en) * 2021-12-15 2022-04-22 禾多科技（北京）有限公司 Lane change information prompting method and device, electronic equipment and computer readable medium
CN114379576B (en) * 2021-12-15 2022-11-11 禾多科技（北京）有限公司 Lane change information prompting method and device, electronic equipment and computer readable medium
CN114655206A (en) * 2022-04-29 2022-06-24 重庆长安汽车股份有限公司 Following target decision method, vehicle and storage medium
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