WO2020135738A1 - 车辆自动驾驶时避障的方法、系统及车辆 - Google Patents

车辆自动驾驶时避障的方法、系统及车辆 Download PDF

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Publication number
WO2020135738A1
WO2020135738A1 PCT/CN2019/129278 CN2019129278W WO2020135738A1 WO 2020135738 A1 WO2020135738 A1 WO 2020135738A1 CN 2019129278 W CN2019129278 W CN 2019129278W WO 2020135738 A1 WO2020135738 A1 WO 2020135738A1
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WIPO (PCT)
Prior art keywords
obstacle
vehicle
adjacent
width
current driving
Prior art date
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Ceased
Application number
PCT/CN2019/129278
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English (en)
French (fr)
Inventor
王天培
常仕伟
葛建勇
高健
张凯
甄龙豹
刘宏伟
刘洪亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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Publication date
Priority claimed from CN201811637022.3A external-priority patent/CN110614992B/zh
Priority claimed from CN201811637024.2A external-priority patent/CN110673595B/zh
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to EP19902179.1A priority Critical patent/EP3889721B1/en
Publication of WO2020135738A1 publication Critical patent/WO2020135738A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position

Definitions

  • the present application relates to the technical field of vehicle automatic driving, in particular to a method, system and vehicle for avoiding obstacles during vehicle automatic driving.
  • Vehicle unmanned driving refers to the perception of the road environment through the on-board sensing system, automatically planning the driving route and controlling the driving of the vehicle.
  • the vehicle is driving automatically, if there is an obstacle in the current driving lane, you need to obtain obstacle information and control the vehicle to avoid the obstacle. Therefore, there is an urgent need for a technology that can avoid obstacles during automatic driving.
  • the first objective of the present application is to propose a method for avoiding obstacles during automatic driving of a vehicle.
  • the method can determine whether the vehicle can pass according to the position and size of obstacles in the current lane, and then control the vehicle to travel.
  • a method for avoiding obstacles during automatic driving of a vehicle includes the following steps: providing a road environment model near a preset range of the vehicle, including the position and width of the lane within the preset range near the vehicle, and the size and size of obstacles Position; if there are multiple obstacles in the current driving lane within the preset range, then obtain the position and size of the first adjacent obstacle, the position and size of the second adjacent obstacle, the width of the current driving lane, and The distance between the first neighboring obstacle and the second neighboring obstacle in the direction of the current driving lane, and obtaining the vehicle speed; according to the position and size of the first neighboring obstacle, The position and size of the second adjacent obstacle, the speed of the vehicle and the distance between the obstacles determine whether the vehicle can avoid the first adjacent obstacle and the second in the current driving lane Passing near obstacles; performing obstacle avoidance control on the vehicle according to the judgment result; wherein, the first neighboring obstacle is an obstacle closest to the vehicle in the driving direction of the current driving lane, and the second approaching obstacle The obstacle is the closest obstacle to the first
  • the obstacle avoidance control of the vehicle according to the judgment result includes: if the first adjacent obstacle and the second adjacent obstacle can be avoided in the current driving lane, controlling the vehicle The vehicle passes the first adjacent obstacle and the second adjacent obstacle in the current driving lane.
  • the performing obstacle avoidance control on the vehicle according to the judgment result further includes: if it is not possible to avoid the passage of the first adjacent obstacle and the second adjacent obstacle in the current driving lane, then Controlling the vehicle to change lanes and avoid obstacles.
  • the judging whether the vehicle can travel on the current is based on the position and size of the first obstacle, the position and size of the second obstacle, the speed of the vehicle and the distance between the obstacles
  • the step of avoiding the passage of the first neighboring obstacle and the second neighboring obstacle in the lane specifically includes: obtaining the first according to the position, size and width of the current driving lane of the first neighboring obstacle A passing width near the obstacle; if the passing width near the first obstacle is smaller than the first preset safe passing width, it is determined that the vehicle cannot avoid the first in the current driving lane The approaching obstacle and the second approaching obstacle pass; if the passing width at the first approaching obstacle is greater than the first preset safe passing width, according to the position, size and The width of the current driving lane obtains the traffic width at the second adjacent obstacle; if the traffic width at the second adjacent obstacle is less than the first preset safe traffic width, it is determined that the vehicle is not possible Avoiding the passage of the first adjacent obstacle and the second adjacent obstacle in the current driving lane; if the passage width at the
  • the step of traveling from the position of the vehicle passing the first approaching obstacle to the position of the vehicle passing the second approaching obstacle specifically includes: using the position of the vehicle passing the first approaching obstacle Is the starting point, taking the position of the vehicle passing the second adjacent obstacle as the end point, and judging whether the vehicle can travel from the starting point to the end point at a constant speed or decelerating under the obstacle distance; if it can Traveling to the end point at a constant speed or deceleration at the distance between the obstacles, it is determined that the vehicle can travel from the position of the vehicle passing the first approaching obstacle to the vehicle passing the second approaching obstacle Position; if it is not possible to travel at a constant speed or deceleration from the starting point at the obstacle distance to the end point, it is determined that the vehicle cannot travel from the position of the vehicle passing through the first nearby obstacle to the position
  • the method further includes: if there are multiple obstacles in the preset range in the current driving lane, acquiring the first according to the road environment model The position and size of the approaching obstacle, the position and size of the second approaching obstacle, and the width of the current driving lane; according to the position and size of the first approaching obstacle, the position and size of the second approaching obstacle And the width of the current driving lane to obtain a comprehensive traffic width; if the comprehensive traffic width is less than the second preset safe driving width, the vehicle is controlled between the first adjacent obstacle and the second adjacent obstacle Straight-line travel; wherein, when the first adjacent obstacle and the second adjacent obstacle are close to the same side of the left and right sides of the current driving lane, the comprehensive traffic width is the first adjacent obstacle The smaller of the traffic width at the location and the traffic width at the first adjacent obstacle; when the first adjacent obstacle and the second adjacent obstacle are close to different sides on the left and right sides of the current driving lane At this time, the comprehensive traffic width is the
  • the step of providing a road environment model in a preset range near the vehicle further includes: if there is an obstacle within the preset range in the current driving lane, acquiring Obtain the position and size of the obstacle, and obtain the lane width of the current driving lane; obtain the traffic width at the obstacle according to the position, size and width of the current driving lane; if the obstacle The traffic width at the object is greater than the third preset safe traffic width, then the vehicle is controlled to travel in the current driving lane to avoid the obstacle.
  • the step of providing a road environment model in a preset range near the vehicle specifically includes: acquiring position information of the vehicle, the position and size of obstacles in the current driving lane, and preset near the vehicle Lane position and lane width information within the range; based on the vehicle position information, the position and size of obstacles in the current driving lane, and the lane position and lane width information within the preset range near the vehicle Describe the road environment model.
  • a road environment model of a preset range near the vehicle is first generated, and the lane line of all lanes and the position size of obstacles in the current driving lane are provided on the road environment model.
  • the vehicle is judged to be on the basis of the traffic width at the two obstacles closest to the vehicle, and the distance and speed between the two obstacles in the direction of vehicle travel Whether the driving lane can avoid the passage of these two obstacles, and then control the vehicle to drive; when there is only one obstacle in the effective detection range of the current driving lane, determine whether the traffic width at the obstacle can be used for the vehicle to avoid the obstacle Obstacles, and then control the vehicle to travel.
  • Another object of the present application is to propose a system for avoiding obstacles during automatic driving of a vehicle.
  • the system can determine whether the vehicle can pass according to the position and size of obstacles on the current driving road, and then control the vehicle to drive.
  • a system for avoiding obstacles during automatic driving of a vehicle comprising: a road environment model providing module, which is used to provide a road environment model in a preset range near the vehicle, the road environment model including a lane position in the preset range near the vehicle and The width of the lane, and the size and position of the obstacle; the control module is used to obtain the number of obstacles according to the road environment model when it is known that there are multiple obstacles within the preset range in the current driving lane according to the road environment model A position and size of an adjacent obstacle, a position and size of a second adjacent obstacle, the width of the current driving lane, and the driving direction of the first adjacent obstacle and the second adjacent obstacle in the current driving lane
  • the distance between obstacles on the vehicle and obtain the speed of the vehicle, and then according to the position and size of the first adjacent obstacle, the position and size of the second adjacent obstacle, the speed of the vehicle and the obstacle
  • the distance determines whether the vehicle can avoid the first adjacent obstacle and the second adjacent obstacle in the current driving lane, and performs obstacle avoidance
  • control module is specifically configured to control the vehicle in the current driving lane when the first adjacent obstacle and the second adjacent obstacle can be avoided in the current driving lane Avoid the passage of the first adjacent obstacle and the second adjacent obstacle.
  • control module is specifically configured to control the vehicle to change lanes and avoid obstacles when it is not possible to avoid the first adjacent obstacle and the second adjacent obstacle in the current driving lane.
  • control module is specifically configured to obtain the traffic width at the first adjacent obstacle according to the position, size and width of the current driving lane of the first adjacent obstacle; if the first adjacent obstacle The traffic width at the object is smaller than the first preset safe traffic width, it is determined that the vehicle cannot avoid the first adjacent obstacle and the second adjacent obstacle in the current driving lane; if the The passing width at the first adjacent obstacle is greater than the first preset safe passing width, then the second adjacent obstacle is obtained according to the position, size and width of the current driving lane of the second adjacent obstacle Traffic width of the vehicle; if the traffic width at the second adjacent obstacle is smaller than the first preset safe traffic width, it is determined that the vehicle cannot avoid the first adjacent obstacle in the current driving lane Pass with the second adjacent obstacle; if the passing width at the second adjacent obstacle is greater than the first preset safe passing width, then obtain the position of the vehicle passing the first adjacent obstacle and pass the The position of the second approaching obstacle vehicle; judging from the position of the vehicle passing the first approaching obstacle, the position of the vehicle passing the second approaching obstacle,
  • control module is further used to determine whether the vehicle can pass from the position of the vehicle passing the first approaching obstacle as the starting point, and the position of the vehicle passing the second approaching obstacle as the end point.
  • the starting point travels at a constant speed or deceleration to the end point at the obstacle distance; if it can travel at a constant speed or deceleration at the obstacle distance from the starting point to the end point, it is determined that the vehicle can pass from the passing point.
  • the vehicle position of the first approaching obstacle travels to the position of the vehicle passing the second approaching obstacle; if it is not possible to travel at a constant speed or deceleration from the starting point at the obstacle distance to the end point, It is determined that the vehicle cannot travel from the position of the vehicle passing the first proximity obstacle to the position of the vehicle passing the second proximity obstacle.
  • control module is further used to obtain the position and size of the first adjacent obstacle and the second adjacent obstacle according to the road environment model if there are multiple obstacles within the preset range of the current driving lane The position and size of the current driving lane and the width of the current driving lane; a comprehensive traffic width is obtained based on the position and dimension of the first adjacent obstacle, the position and dimension of the second adjacent obstacle and the width of the current driving lane; If the comprehensive traffic width is smaller than the second preset safe driving width, the vehicle is controlled to travel straight between the first approaching obstacle and the second approaching obstacle; wherein, when the first approaching obstacle When both the object and the second adjacent obstacle are close to the same side on the left and right sides of the current driving lane, the comprehensive traffic width is the traffic width at the first adjacent obstacle and the first adjacent obstacle The smaller of the traffic widths of; when the first adjacent obstacle and the second adjacent obstacle are close to different sides on the left and right sides of the current driving lane, the comprehensive traffic width is the first adjacent The shortest distance between the obstacle and the second neighboring obstacle in the left
  • control module is also used to obtain the position and size of the obstacle when there is an obstacle within the preset range in the current driving lane, and then according to the position, size and The width of the current driving lane obtains the traffic width at the obstacle, and when the traffic width at the obstacle is less than the second preset safe traffic width, the vehicle is controlled to change lanes and avoid obstacles.
  • the system for avoiding obstacles during automatic driving of the vehicle has the same advantages as the method for avoiding obstacles during automatic driving of the vehicle compared to the prior art, and will not be repeated here.
  • Another object of the present application is to propose a vehicle that can determine whether it can pass according to the position and size of obstacles on the current driving road.
  • a vehicle is provided with a system for avoiding obstacles during automatic driving of the vehicle as described in the above embodiment.
  • the vehicle has the same advantages as the above-mentioned system for avoiding obstacles during automatic driving of the vehicle compared with the prior art, and will not be repeated here.
  • FIG. 1 is a flowchart of a method for avoiding obstacles during automatic driving of a vehicle according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of two obstacles closest to the vehicle in the current driving lane in an embodiment of the present application
  • FIG. 3 is a flowchart of a method for avoiding obstacles during automatic driving of a vehicle according to an embodiment of the present application
  • FIG. 4 is a schematic diagram of two obstacles closest to the vehicle in the current driving lane in another embodiment of the present application.
  • FIG. 5 is a schematic diagram of two obstacles closest to the vehicle in the current driving lane in another embodiment of the present application.
  • FIG. 6 is a schematic diagram of an obstacle existing in the current driving lane in an embodiment of the present application.
  • FIG. 7 is a structural block diagram of a system for avoiding obstacles during automatic driving of a vehicle according to an embodiment of the present application.
  • FIG. 1 is a flowchart of a method for avoiding obstacles during automatic driving of a vehicle according to an embodiment of the present application.
  • the method for avoiding obstacles during automatic driving of a vehicle includes the following steps:
  • S1 Provide a road environment model in a preset range near the vehicle.
  • the road environment model includes the lane position and lane width in the preset range near the vehicle, as well as the size and position of obstacles.
  • step S1 specifically includes: obtaining the position information of the vehicle, the position and size of the obstacle in the current driving lane, and the position and width information of the lane within the preset range near the vehicle; The location information, the location and size of obstacles in the current driving lane, and the location and width information of the lane within the preset range near the vehicle generate a road environment model.
  • the vehicle is provided with an environment awareness system, which replaces the driver's sensory system to extract current driving environment information such as road, vehicle position, size and position of obstacles through different sensors.
  • the above environmental information is filtered, correlated, tracked, filtered, etc. in order to obtain more accurate road information, object target position, size and other information, and finally generate a road environment model.
  • the road environment model outputs real-time lane position and lane width information within a preset range (for example, 200 meters) in front of and behind the vehicle, as well as the size and position of all vehicles and obstacles in the range.
  • the first adjacent obstacle is the closest obstacle to the vehicle in the driving direction of the current driving lane
  • the second adjacent obstacle is the closest obstacle to the first adjacent obstacle in the driving direction of the current driving lane.
  • FIG. 2 is a schematic diagram of two obstacles closest to the vehicle in the current driving lane in an embodiment of the present application. As shown in FIG. 2, in one embodiment of the present application, the distance between the first adjacent obstacle A and the second adjacent obstacle B is L1.
  • step S3 specifically includes:
  • the traffic width D1 at the first adjacent obstacle A is obtained according to the position, size and width of the current driving lane of the first adjacent obstacle A.
  • the first preset safe traffic width is to ensure that the vehicle can safely pass through the road at the obstacle.
  • the first preset safe traffic width is 2.8m (the vehicle width is 2m, and the redundant width threshold is 0.8m).
  • S3-6 According to the position of the vehicle passing the first approaching obstacle A, the position of the vehicle passing the second approaching obstacle B, the speed of the vehicle, and the distance between obstacles L1, determine whether the vehicle can pass from the position of the vehicle passing the first approaching obstacle A Drive to the position of the vehicle passing the second adjacent obstacle B.
  • step S3-6 specifically includes:
  • S3-6-1 Use the position of the vehicle passing the first adjacent obstacle A as the starting point, and the position of the vehicle passing the second adjacent obstacle B as the ending point to determine whether the vehicle can travel from the starting point at a constant speed or deceleration to the distance between obstacles end.
  • the boundary of the first adjacent obstacle A in the traveling direction At the point take the middle point of the road (the lane width is D1) on which the vehicle can pass in the current lane as the starting point.
  • the middle point of the road (the lane width is D2) of the current lane that is accessible by vehicles is the end point.
  • the middle point of the road for vehicle traffic (the width of the lane is D1) is the starting point, and at the closest point in the driving direction of the second nearest obstacle B, the road for the passage of the current lane (the width of the lane is D2) The middle point is the end point.
  • the distance between the obstacles is controlled by controlling the wheel steering Under L1
  • step S4 (that is, performing obstacle avoidance control on the vehicle according to the judgment result) may include step S4-1: if the first lane can be avoided in the current driving lane The first approaching obstacle and the second approaching obstacle will pass, and the control will avoid the first approaching obstacle and the second approaching obstacle in the current driving lane.
  • step S4 may further include step S4-2: If it is not possible to avoid the first adjacent obstacle and the first obstacle in the current driving lane 2. When passing near obstacles, control the vehicle to change lanes and avoid obstacles.
  • step S1 the method further includes:
  • the position and size of the first adjacent obstacle, the position and size of the second adjacent obstacle, and the width of the current driving lane are obtained according to the road environment model.
  • the comprehensive traffic width is obtained according to the position and size of the first adjacent obstacle, the position and size of the second adjacent obstacle, and the width of the current driving lane.
  • FIG. 4 is a schematic diagram of two obstacles closest to the vehicle in the current driving lane in another embodiment of the present application.
  • the comprehensive traffic width Dz is the first adjacent obstacle A and the second adjacent obstacle B The shortest distance in the current driving lane perpendicular to the driving direction.
  • Dz>the second preset safe driving width the vehicle is controlled to travel straight in the gap between the first adjacent obstacle A and the second adjacent obstacle B.
  • FIG. 5 is a schematic diagram of two obstacles closest to the own vehicle in the current driving lane in another embodiment of the present application.
  • the comprehensive traffic width is the width of the first traffic width D1 and the second traffic width D2. Small value.
  • the overall traffic width is D1.
  • the vehicle is controlled to travel straight between the first adjacent obstacle A and the second adjacent obstacle B.
  • the vehicle is controlled to travel straight between the first adjacent obstacle and the second adjacent obstacle.
  • the second preset safe traffic width is to ensure that the vehicle can safely pass through the road at the obstacle.
  • the second preset safe traffic width is 2.8m (the vehicle width is 2m, and the redundant width threshold is 0.8m).
  • FIG. 6 is a schematic diagram of an obstacle existing in the current driving lane in an embodiment of the present application.
  • step S1 after step S1, it further includes: if an obstacle M exists in the current driving lane within a preset range, acquiring the position, size and current driving lane of the obstacle Lane width.
  • the third preset safe traffic width is 2.8m (the vehicle width is 2m, and the redundant width threshold is 0.8m).
  • a road environment model of a preset range near the vehicle is first generated, and the lane line of all lanes and the position size of obstacles in the current driving lane are provided on the road environment model.
  • the vehicle is judged to be on the basis of the traffic width at the two obstacles closest to the vehicle, and the distance and speed between the two obstacles in the direction of vehicle travel Whether the driving lane can avoid the passage of these two obstacles, and then control the vehicle to drive; when there is only one obstacle in the effective detection range of the current driving lane, determine whether the traffic width at the obstacle can be used for the vehicle to avoid the obstacle Obstacles, and then control the vehicle to travel.
  • the system for avoiding obstacles during automatic driving of a vehicle according to an embodiment of the present application includes: a road environment model providing module 610 and a control module 620.
  • the road environment model providing module 610 is used to provide a road environment model in a preset range near the vehicle.
  • the road environment model includes the position and width of the lane within a preset range near the vehicle, as well as the size and position of obstacles.
  • the control module 620 is used to obtain the position and size of the first neighboring obstacle and the position and size of the second neighboring obstacle according to the road environment model when learning that there are multiple obstacles within the preset range in the current driving lane according to the road environment model Dimensions, the width of the current driving lane, and the distance between the first and second adjacent obstacles in the direction of the current driving lane, and obtain the speed of the vehicle, and then according to the position and size of the first adjacent obstacle, the first 2.
  • the location and size of adjacent obstacles, the speed of the vehicle and the distance between obstacles determine whether the vehicle can avoid the first and second adjacent obstacles in the current driving lane, and perform obstacle avoidance control on the vehicle according to the judgment result .
  • the first adjacent obstacle is the closest obstacle to the vehicle in the driving direction of the current driving lane
  • the second adjacent obstacle is the closest obstacle to the first adjacent obstacle in the driving direction of the current driving lane.
  • control module 620 is specifically configured to control the vehicle to avoid the first approach in the current driving lane when the first approaching obstacle and the second approaching obstacle can be avoided in the current driving lane.
  • the obstacle and the second adjacent obstacle pass.
  • control module 620 is specifically configured to control the vehicle to change lanes and avoid obstacles when the first adjacent obstacle and the second adjacent obstacle cannot be avoided in the current driving lane.
  • control module 620 is specifically configured to obtain the traffic width of the first adjacent obstacle according to the position, size and width of the current driving lane of the first adjacent obstacle; if the first adjacent obstacle If the traffic width is less than the first preset safe traffic width, it is determined that the vehicle cannot avoid the first adjacent obstacle and the second adjacent obstacle in the current driving lane; if the traffic width at the first adjacent obstacle is greater than the first Set the safe passage width, then obtain the passage width at the second adjacent obstacle according to the position, size and width of the current driving lane of the second adjacent obstacle; if the passage width at the second adjacent obstacle is smaller than the first preset safe passage Width, it is determined that the vehicle cannot avoid the passage of the first adjacent obstacle and the second adjacent obstacle in the current driving lane; if the passage width at the second adjacent obstacle is greater than the first preset safe passage width, the The position of the vehicle approaching the obstacle and the position of the vehicle passing the second approaching obstacle; judging whether the vehicle is acceptable based on the position of the vehicle passing the first approaching obstacle,
  • control module 620 is further used to determine whether the vehicle can pass from the starting point to the obstacle using the position of the vehicle passing the first approaching obstacle as the starting point and the position of the vehicle passing the second approaching obstacle as the end point Drive at a constant speed or deceleration to the end point at a distance; if you can drive at a constant speed or deceleration at the obstacle distance from the start point to the end point, it is determined that the vehicle can travel from the position of the vehicle passing the first approaching obstacle to the position of the vehicle passing the second approaching obstacle ; If it is not possible to travel at a constant speed or deceleration from the starting point to the end point at the obstacle distance, it is determined that the vehicle cannot travel from the position of the vehicle passing the first adjacent obstacle to the position of the vehicle passing the second nearby obstacle.
  • control module 620 is further configured to obtain the position and size of the first adjacent obstacle and the second adjacent obstacle according to the road environment model if there are multiple obstacles within the preset range of the current driving lane The position and size of the object and the width of the current driving lane; based on the position and size of the first adjacent obstacle, the position and dimension of the second adjacent obstacle and the width of the current driving lane; By presetting the safe driving width, the vehicle is controlled to travel straight between the first adjacent obstacle and the second adjacent obstacle.
  • the comprehensive traffic width is the traffic width at the first adjacent obstacle and the traffic width at the first adjacent obstacle
  • control module 620 is further used to obtain the position and size of the obstacle when there is an obstacle within the preset range in the current driving lane, and then according to the position, size and current driving lane of the obstacle
  • the width of is to obtain the traffic width at the obstacle, and when the traffic width at the obstacle is less than the second preset safe traffic width, the vehicle is controlled to change lanes and avoid obstacles.
  • the system for avoiding obstacles during automatic driving of the present application first generates a road environment model of a preset range near the vehicle, and provides the lane line of all lanes and the position size of obstacles in the current driving lane on the road environment model.
  • the vehicle is judged to be on the basis of the traffic width at the two obstacles closest to the vehicle, and the distance and speed between the two obstacles in the direction of vehicle travel Whether the driving lane can avoid the passage of these two obstacles, and then control the vehicle to drive; when there is only one obstacle in the effective detection range of the current driving lane, determine whether the traffic width at the obstacle can be used for the vehicle to avoid the obstacle Obstacles, and then control the vehicle to travel.
  • an embodiment of the present application discloses a vehicle provided with a system for generating obstacle avoidance during automatic driving of a vehicle as in any of the above embodiments.
  • the vehicle can judge whether it can pass according to the position and size of the obstacle on the current driving road.

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
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  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

一种车辆自动驾驶时避障的方法、系统及车辆，方法包括：提供车辆附近预设范围的道路环境模型（S1）；如果当前行驶车道在预设范围内存在多个障碍物，则根据道路环境模型获取第一临近障碍物（A）的位置和尺寸、第二临近障碍物(B)的位置和尺寸、当前行驶车道的宽度以及第一临近障碍物（A）与第二临近障碍物(B)在当前行驶车道行驶方向上的障碍物间距，并获取车辆的车速（S2）；根据第一障碍物（A）的位置和尺寸、第二障碍物(B)的位置和尺寸、车辆的车速和障碍物间距判断车辆是否可以在当前行驶车道内绕过第一临近障碍物（A）和第二临近障碍物(B)通行（S3），并对车辆进行避障控制（S4）。根据当前行驶道路的障碍物位置和尺寸判断是否可以通行，进而控制车辆。

Description

车辆自动驾驶时避障的方法、系统及车辆
相关申请的交叉引用
本申请基于申请号为201811637024.2，且申请日为2018年12月29日，以及申请号为201811637022.3，且申请日为2018年12月29日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及车辆自动驾驶技术领域，特别涉及一种车辆自动驾驶时避障的方法、系统及车辆。
背景技术
车辆无人驾驶指通过车载传感系统感知道路环境，自动规划行车路线并控制车辆行驶。当车辆自动驾驶时，如果当前行驶车道存在障碍物，则需要获取障碍物信息，并控制车辆躲避障碍物。因此亟需一种在自动驾驶时可以躲避障碍物的技术。
发明内容
有鉴于此，本申请的第一个目的在于提出一种车辆自动驾驶时避障的方法，该方法可以根据当前车道的障碍物位置和尺寸判断是否可以通行，进而控制车辆行驶。
为达到上述目的，本申请的技术方案是这样实现的：
一种车辆自动驾驶时避障的方法，包括以下步骤：提供车辆附近预设范围的道路环境模型，所述包括所述车辆附近预设范围内的车道位置和车道宽度，以及障碍物的尺寸和位置；如果当前行驶车道在所述预设范围内存在多个障碍物，则根据获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸、所述当前行驶车道的宽度以及所述第一临近障碍物与所述第二临近障碍物在所述当前行驶车道行驶方向上的障碍物间距，并获取所述车辆的车速；根据所述第一临近障碍物的位置和尺寸、所述第二临近障碍物的位置和尺寸、所述车辆的车速和所述障碍物间距判断所述车辆是否可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；根据判断结果对所述车辆进行避障控制；其中，所述第一临近障碍物为所述当前行驶车道的行驶方向上与所述车辆最近的障碍物，所述第二临近障碍物为所述当前行驶车道的行驶方向上所述第一临近障碍物最近的障碍物。
进一步的，所述根据判断结果对所述车辆进行避障控制，包括：如果可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行，则控制所述车辆在所述 当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
进一步的，所述根据判断结果对所述车辆进行避障控制，还包括：如果不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行，则控制所述车辆换道避障。
进一步的，所述根据所述第一障碍物的位置和尺寸、所述第二障碍物的位置和尺寸、所述车辆的车速和所述障碍物间距判断所述车辆是否可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行的步骤，具体包括：根据所述第一临近障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述第一临近障碍物处的通行宽度；如果所述第一临近障碍物处的通行宽度小于第一预设安全通行宽度，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果所述第一临近障碍物处的通行宽度大于所述第一预设安全通行宽度，则根据所述第二临近障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述第二临近障碍物处的通行宽度；如果所述第二临近障碍物处的通行宽度小于所述第一预设安全通行宽度，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果所述第二临近障碍物处的通行宽度大于所述第一预设安全通行宽度，则获取经过所述第一临近障碍物的车辆位置和经过所述第二临近障碍物的车辆位置；根据所述经过所述第一临近障碍物的车辆位置、所述经过所述第二临近障碍物的车辆位置、所述车辆的车速和所述障碍物间距判断所述车辆是否可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置；如果判定所述车辆可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
进一步的，所述根据所述经过所述第一临近障碍物的车辆位置、所述经过所述第二临近障碍物的车辆位置、所述车辆的车速和所述障碍物间距判断所述车辆是否可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置的步骤，具体包括：以所述经过所述第一临近障碍物的车辆位置为起点，以经过所述第二临近障碍物的车辆位置为终点，判断所述车辆是否可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点；如果可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点，则判定所述车辆可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置；如果不可以从所述起点在所述障碍物间距下匀速或减速行驶至所 述终点，则判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置。
进一步的，在所述提供车辆附近预设范围的道路环境模型的步骤之后，还包括：如果当前行驶车道在所述预设范围内存在多个障碍物，则根据所述道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸和所述当前行驶车道的宽度；根据所述第一临近障碍物的位置和尺寸、所述第二临近障碍物的位置和尺寸和所述当前行驶车道的宽度得到综合通行宽度；如果所述综合通行宽度小于第二预设安全行驶宽度，则控制所述车辆在所述第一临近障碍物和所述第二临近障碍物之间直线行驶；其中，当所述第一临近障碍物和所述第二临近障碍物均靠近所述当前行驶车道左右两侧的同一侧时，所述综合通行宽度为所述第一临近障碍物处的通行宽度和所述第一临近障碍物处的通行宽度中的较小值；当所述第一临近障碍物和所述第二临近障碍物靠近所述当前行驶车道左右两侧的不同侧时，所述综合通行宽度为所述第一临近障碍物和所述第二临近障碍物在所述当前行驶车道在左右方向上的最短距离。
进一步的，在所述提供车辆附近预设范围的道路环境模型的步骤之后，还包括：如果所述当前行驶车道在所述预设范围内存在一个障碍物，则获取根据所述道路环境模型所述障碍物的位置和尺寸，并获取所述当前行驶车道的车道宽度；根据所述障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述障碍物处的通行宽度；如果所述障碍物处的通行宽度大于第三预设安全通行宽度，则控制所述车辆在所述当前行驶车道内避开所述障碍物行驶。
进一步的，所述提供车辆附近预设范围的道路环境模型的步骤，具体包括：获取所述车辆的位置信息，所述当前行驶车道内的障碍物的位置和尺寸，以及所述车辆附近预设范围内的车道位置和车道宽度信息；根据所述车辆的位置信息，所述当前行驶车道内的障碍物的位置和尺寸，以及所述车辆附近预设范围内的车道位置和车道宽度信息生成所述道路环境模型。
相对于现有技术，本申请所述的车辆自动驾驶时避障的方法具有以下优势：
本申请所述的车辆自动驾驶时避障的方法，首先生成车辆附近预设范围的道路环境模型，在道路环境模型上提供所有车道的车道线和当前行驶车道中障碍物的位置尺寸。在当前车道的有效探测范围内存在多个障碍物时，根据与车辆最近的两个障碍物处的通行宽度，以及此两个障碍物之间在车辆行驶方向上的距离和车速判断车辆在当前行驶车道能否避开此两个障碍物通行，进而控制该车辆行驶；在当前行驶车道的有效探测范围内仅存在一个障碍物时，判断该障碍物处的通行宽度是否可以供车辆避开该障碍物，进而控制该车辆行驶。
本申请的另一个目的在于提出一种车辆自动驾驶时避障的系统，该系统可以根据当前行驶道路的障碍物位置和尺寸判断是否可以通行，进而控制车辆行驶。
为达到上述目的，本申请的技术方案是这样实现的：
一种车辆自动驾驶时避障的系统，包括：道路环境模型提供模块，用于提供车辆附近预设范围的道路环境模型，所述道路环境模型包括所述车辆附近预设范围内的车道位置和车道宽度，以及障碍物的尺寸和位置；控制模块，用于根据所述道路环境模型得知在当前行驶车道在所述预设范围内存在多个障碍物时，根据所述道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸、所述当前行驶车道的宽度以及所述第一临近障碍物与所述第二临近障碍物在所述当前行驶车道行驶方向上的障碍物间距，并获取所述车辆的车速，进而根据所述第一临近障碍物的位置和尺寸、所述第二临近障碍物的位置和尺寸、所述车辆的车速和所述障碍物间距判断所述车辆是否可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行，并根据判断结果对所述车辆进行避障控制；其中，所述第一临近障碍物为所述当前行驶车道的行驶方向上与所述车辆最近的障碍物，所述第二临近障碍物为所述当前行驶车道的行驶方向上所述第一临近障碍物最近的障碍物。
进一步的，所述控制模块具体用于在可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行时，控制所述车辆在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
进一步的，所述控制模块具体用于在不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行时，控制所述车辆换道避障。
进一步的，所述控制模块具体用于根据所述第一临近障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述第一临近障碍物处的通行宽度；如果所述第一临近障碍物处的通行宽度小于第一预设安全通行宽度，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果所述第一临近障碍物处的通行宽度大于所述第一预设安全通行宽度，则根据所述第二临近障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述第二临近障碍物处的通行宽度；如果所述第二临近障碍物处的通行宽度小于所述第一预设安全通行宽度，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果所述第二临近障碍物处的通行宽度大于所述第一预设安全通行宽度，则获取经过所述第一临近障碍物的车辆位置和经过所述第二临近障碍物的车辆位置；根据所述经过所述第一临近障碍物的车辆位置、所述经过所述第二临近障碍物的车辆位置、所述车辆的车速和所述障碍物间距判断所述车辆是否可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置； 如果判定所述车辆可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
进一步的，所述控制模块还用于以所述经过所述第一临近障碍物的车辆位置为起点，以经过所述第二临近障碍物的车辆位置为终点，判断所述车辆是否可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点；如果可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点，则判定所述车辆可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置；如果不可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点，则判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置。
进一步的，所述控制模块还用于如果当前行驶车道在所述预设范围内存在多个障碍物，则根据所述道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸和所述当前行驶车道的宽度；根据所述第一临近障碍物的位置和尺寸、所述第二临近障碍物的位置和尺寸和所述当前行驶车道的宽度得到综合通行宽度；如果所述综合通行宽度小于第二预设安全行驶宽度，则控制所述车辆在所述第一临近障碍物和所述第二临近障碍物之间直线行驶；其中，当所述第一临近障碍物和所述第二临近障碍物均靠近所述当前行驶车道左右两侧的同一侧时，所述综合通行宽度为所述第一临近障碍物处的通行宽度和所述第一临近障碍物处的通行宽度中的较小值；当所述第一临近障碍物和所述第二临近障碍物靠近所述当前行驶车道左右两侧的不同侧时，所述综合通行宽度为所述第一临近障碍物和所述第二临近障碍物在所述当前行驶车道在左右方向上的最短距离。
进一步的，所述控制模块还用于在所述当前行驶车道在所述预设范围内存在一个障碍物时，获取所述障碍物的位置和尺寸，进而根据所述障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述障碍物处的通行宽度，并在所述障碍物处的通行宽度小于第二预设安全通行宽度时，控制所述车辆换道避障。
所述的车辆自动驾驶时避障的系统与上述的车辆自动驾驶时避障的方法相对于现有技术所具有的优势相同，在此不再赘述。
本申请的又一个目的在于提出一种车辆，该车辆可以根据当前行驶道路的障碍物位置和尺寸判断是否可以通行。
为达到上述目的，本申请的技术方案是这样实现的：
一种车辆，设置有如上述实施例所述的车辆自动驾驶时避障的系统。
所述的车辆与上述的车辆自动驾驶时避障的系统相对于现有技术所具有的优势相同，在此不再赘述。
附图说明
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本申请实施例的车辆自动驾驶时避障的方法的流程图；
图2为本申请一个实施例中在当前行驶车道存在距离本车最近的两个障碍物的示意图；
图3为本申请一个实施例的车辆自动驾驶时避障的方法的流程图；
图4为本申请另一实施例中在当前行驶车道存在距离本车最近的两个障碍物的示意图；
图5为本申请又一实施例中在当前行驶车道存在距离本车最近的两个障碍物的示意图；
图6为本申请一个实施例中在当前行驶车道存在一个障碍物的示意图；
图7为本申请实施例的车辆自动驾驶时避障的系统的结构框图。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
下面将参考附图并结合实施例来详细说明本申请。
图1为本申请实施例的车辆自动驾驶时避障的方法的流程图。
如图1所示，根据本申请实施例的车辆自动驾驶时避障的方法，包括如下步骤：
S1：提供车辆附近预设范围的道路环境模型，道路环境模型包括车辆附近预设范围内的车道位置和车道宽度，以及障碍物的尺寸和位置。
在本申请的一个实施例中，步骤S1具体包括：获取车辆的位置信息，当前行驶车道内的障碍物的位置和尺寸，以及车辆附近预设范围内的车道位置和车道宽度信息；根据车辆的位置信息，当前行驶车道内的障碍物的位置和尺寸，以及车辆附近预设范围内的车道位置和车道宽度信息生成道路环境模型。
具体地，车辆上设置有环境感知系统，环境感知系统替代驾驶员感官系统通过不同传感器提取道路、车辆位置、障碍物的尺寸和位置等当前行驶环境信息。将上述环境信息进行筛选、关联、追踪、过滤等处理以便获得更为精确的道路信息、物体目标位置、尺寸等信息，最终生成道路环境模型。其中，道路环境模型实时输出车辆前、后方预设范围(例如200米)内车道位置和车道宽度信息，以及在范围内所有车辆、障碍物的尺寸和位置。
S2：如果当前行驶车道在预设范围内存在多个障碍物，则根据道路环境模型获取第一 临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸、当前行驶车道的宽度以及第一临近障碍物与第二临近障碍物在当前行驶车道行驶方向上的障碍物间距，并获取车辆的车速。其中，第一临近障碍物为当前行驶车道的行驶方向上与车辆最近的障碍物，第二临近障碍物为当前行驶车道的行驶方向上第一临近障碍物最近的障碍物。
图2为本申请一个实施例中在当前行驶车道存在距离本车最近的两个障碍物的示意图。如图2所示，在本申请的一个实施例中，第一临近障碍物A与第二临近障碍物B之间的障碍物间距为L1。
S3：根据第一临近障碍物A的位置和尺寸、第二临近障碍物B的位置和尺寸、车辆的车速和障碍物间距L1判断车辆是否可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行。
在本申请的一个实施例中，步骤S3具体包括：
S3-1：根据第一临近障碍物A的位置、尺寸和当前行驶车道的宽度得到第一临近障碍物A处的通行宽度D1。
S3-2：如果第一临近障碍物A处的通行宽度D1小于第一预设安全通行宽度，则判定车辆不可以在当前行驶车道内避开第一临近障碍物A和第二临近障碍物B通行。其中，第一预设安全通行宽度是为了保证车辆可以安全通过障碍物处的道路。示例性地，第一预设安全通行宽度为2.8m(车辆宽度为2m，冗余宽度阈值为0.8m)。
S3-3：如果第一临近障碍物A处的通行宽度D1大于第一预设安全通行宽度，则根据第二临近障碍物B的位置、尺寸和当前行驶车道的宽度得到第二临近障碍物B处的通行宽度D2。
S3-4：如果第二临近障碍物B处的通行宽度D2小于第一预设安全通行宽度，则判定车辆不可以在当前行驶车道内避开第一临近障碍物A和第二临近障碍物B通行。
S3-5：如果第二临近障碍物B处的通行宽度大于第一预设安全通行宽度，则获取经过第一临近障碍物A的车辆位置和经过第二临近障碍物B的车辆位置。
S3-6：根据经过第一临近障碍物A的车辆位置、经过第二临近障碍物B的车辆位置、车辆的车速和障碍物间距L1判断车辆是否可以从经过第一临近障碍物A的车辆位置行驶至经过第二临近障碍物B的车辆位置。
在本申请的一个实施例中，步骤S3-6具体包括：
S3-6-1：以经过第一临近障碍物A的车辆位置为起点，以经过第二临近障碍物B的车辆位置为终点，判断车辆是否可以从起点在障碍物间距下匀速或减速行驶至终点。
具体地，如果第一临近障碍物A和第二临近障碍物B靠近当前行驶道路左右两侧的不同侧(如图2所示)时，在第一临近障碍物A的在行驶方向上的边界点处，以当前车道的 可供车辆通行的道路(车道宽度为D1)中间点为起点。在第二临近障碍物B的在行驶方向上的最近点处，以当前车道的可供车辆通行的道路(车道宽度为D2)中间点为终点。
如果第一临近障碍物A和第二临近障碍物B靠近当前行驶道路左右两侧的同一侧时，同样的在第一临近障碍物A的在行驶方向上的边界点处，以当前车道的可供车辆通行的道路(车道宽度为D1)中间点为起点，且在第二临近障碍物B的在行驶方向上的最近点处，以当前车道的可供车辆通行的道路(车道宽度为D2)中间点为终点。
S3-6-2：如果可以从起点在障碍物间距下匀速或减速行驶至终点，则判定车辆可以从经过第一临近障碍物的车辆位置行驶至经过第二临近障碍物的车辆位置。
当第一临近障碍物A和第二临近障碍物B靠近当前行驶道路左右两侧的不同侧(如图2所示)时，此时控制车辆的车速情况时，通过控制车轮转向在障碍物间距L1下判断车辆能否从起点行驶到终点。其次，在控制车辆的减速的情况下，通过控制车轮转向在障碍物间距L1下判断车辆能否从起点行驶到终点。即当车辆的车速不高或障碍物间距L1很大时，车辆可以避开第一临近障碍物A和第二临近障碍物B。
当第一临近障碍物A和第二临近障碍物B靠近当前行驶道路左右两侧的同一侧时，此时只需要保证车辆可以通过第一临近障碍物A和第二临近障碍物B处通行宽度较小的位置即可，而无需考虑障碍物间距L1。
S3-6-3：如果不可以从起点在障碍物间距下匀速或减速行驶至终点，则判定车辆不可以从经过第一临近障碍物的车辆位置行驶至经过第二临近障碍物的车辆位置。
S3-7：如果判断车辆可以从经过第一临近障碍物的车辆位置行驶至经过第二临近障碍物的车辆位置，则判定车辆可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行。
S3-8：如果判定车辆不可以从经过第一临近障碍物的车辆位置行驶至经过第二临近障碍物的车辆位置，则判定车辆不可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行。
S4：根据判断结果对车辆进行避障控制。
其中，如图3所示，在本发明的一个实施例中，步骤S4(即，根据判断结果对车辆进行避障控制)，可包括步骤S4-1：如果可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行，则控制在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行。
进一步的，如图3所示，步骤S4(即，根据判断结果对车辆进行避障控制)，还可包括步骤S4-2：如果不可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行，则控制车辆换道避障。
在本申请的一个实施例中，在步骤S1之后还包括：
如果当前行驶车道在预设范围内存在多个障碍物，则根据道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸和当前行驶车道的宽度。
根据第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸和当前行驶车道的宽度得到综合通行宽度。
图4为本申请另一实施例中在当前行驶车道存在距离本车最近的两个障碍物的示意图。如图4所示，当第一临近障碍物A和第二临近障碍物B靠近当前行驶车道左右两侧的不同侧时，综合通行宽度Dz为第一临近障碍物A和第二临近障碍物B在当前行驶车道垂直于行驶方向上的最短距离。当Dz>第二预设安全行驶宽度时，控制车辆在第一临近障碍物A和第二临近障碍物B之间的间隙直线行驶。
图5为本申请又一实施例中在当前行驶车道存在距离本车最近的两个障碍物的示意图。如图5所示，当第一临近障碍物A和第二临近障碍物B均靠近当前行驶车道的同一侧时，综合通行宽度为第一通行宽度D1和第二通行宽度D2之中的宽度较小值，在本示例中综合通行宽度为D1。控制车辆在第一临近障碍物A和第二临近障碍物B之间直线行驶。
如果综合通行宽度大于第二预设安全行驶宽度，则控制车辆在第一临近障碍物和第二临近障碍物之间直线行驶。其中，第二预设安全通行宽度是为了保证车辆可以安全通过障碍物处的道路。示例性地，第二预设安全通行宽度为2.8m(车辆宽度为2m，冗余宽度阈值为0.8m)。
图6为本申请一个实施例中在当前行驶车道存在一个障碍物的示意图。如图6所示，在本申请的一个实施例中，在步骤S1之后，还包括：如果当前行驶车道在预设范围内存在一个障碍物M，则获取障碍物的位置、尺寸和当前行驶车道的车道宽度。根据障碍物M的位置、尺寸和当前行驶车道的车道宽度得到障碍物M处的通行宽度D3；如果D3大于第三预设安全通行宽度，则控制车辆在当前车道内避开障碍物M通行。示例性地，第三预设安全通行宽度为2.8m(车辆宽度为2m，冗余宽度阈值为0.8m)。
本申请的车辆自动驾驶时避障的方法，首先生成车辆附近预设范围的道路环境模型，在道路环境模型上提供所有车道的车道线和当前行驶车道中障碍物的位置尺寸。在当前车道的有效探测范围内存在多个障碍物时，根据与车辆最近的两个障碍物处的通行宽度，以及此两个障碍物之间在车辆行驶方向上的距离和车速判断车辆在当前行驶车道能否避开此两个障碍物通行，进而控制该车辆行驶；在当前行驶车道的有效探测范围内仅存在一个障碍物时，判断该障碍物处的通行宽度是否可以供车辆避开该障碍物，进而控制该车辆行驶。
图7为本申请实施例的车辆自动驾驶时避障的系统的结构框图。如图7所示，本申请实施例的车辆自动驾驶时避障的系统，包括：道路环境模型提供模块610和控制模块620。
其中，道路环境模型提供模块610用于提供车辆附近预设范围的道路环境模型。道路环境模型包括车辆附近预设范围内的车道位置和车道宽度，以及障碍物的尺寸和位置。控制模块620用于根据道路环境模型得知在当前行驶车道在预设范围内存在多个障碍物时，根据道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸、当前行驶车道的宽度以及第一临近障碍物与第二临近障碍物在当前行驶车道行驶方向上的障碍物间距，并获取车辆的车速，进而根据第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸、车辆的车速和障碍物间距判断车辆是否可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行，并根据判断结果对车辆进行避障控制。其中，第一临近障碍物为当前行驶车道的行驶方向上与车辆最近的障碍物，第二临近障碍物为当前行驶车道的行驶方向上第一临近障碍物最近的障碍物。
在本申请的一个实施例中，控制模块620具体用于在可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行时，控制车辆在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行。
在本申请的一个实施例中，控制模块620具体用于在不可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行时，控制车辆换道避障。
在本申请的一个实施例中，控制模块620具体用于根据第一临近障碍物的位置、尺寸和当前行驶车道的宽度得到第一临近障碍物处的通行宽度；如果第一临近障碍物处的通行宽度小于第一预设安全通行宽度，则判定车辆不可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行；如果第一临近障碍物处的通行宽度大于第一预设安全通行宽度，则根据第二临近障碍物的位置、尺寸和当前行驶车道的宽度得到第二临近障碍物处的通行宽度；如果第二临近障碍物处的通行宽度小于第一预设安全通行宽度，则判定车辆不可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行；如果第二临近障碍物处的通行宽度大于第一预设安全通行宽度，则获取经过第一临近障碍物的车辆位置和经过第二临近障碍物的车辆位置；根据经过第一临近障碍物的车辆位置、经过第二临近障碍物的车辆位置、车辆的车速和障碍物间距判断车辆是否可以从经过第一临近障碍物的车辆位置行驶至经过第二临近障碍物的车辆位置；如果判定车辆可以从经过第一临近障碍物的车辆位置行驶至经过第二临近障碍物的车辆位置，则判定车辆可以在当前行驶车道内避开第一临近障碍物和第二临近障碍物通行；如果判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
在本申请的一个实施例中，控制模块620还用于以经过第一临近障碍物的车辆位置为起点，以经过第二临近障碍物的车辆位置为终点，判断车辆是否可以从起点在障碍物间距 下匀速或减速行驶至终点；如果可以从起点在障碍物间距下匀速或减速行驶至终点，则判定车辆可以从经过第一临近障碍物的车辆位置行驶至经过第二临近障碍物的车辆位置；如果不可以从起点在障碍物间距下匀速或减速行驶至终点，则判定车辆不可以从经过第一临近障碍物的车辆位置行驶至经过第二临近障碍物的车辆位置。
在本申请的一个实施例中，控制模块620还用于如果当前行驶车道在预设范围内存在多个障碍物，则根据道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸和当前行驶车道的宽度；根据第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸和当前行驶车道的宽度得到综合通行宽度；如果综合通行宽度大于第二预设安全行驶宽度，则控制车辆在第一临近障碍物和第二临近障碍物之间直线行驶。其中，当第一临近障碍物和第二临近障碍物均靠近当前行驶车道左右两侧的同一侧时，综合通行宽度为第一临近障碍物处的通行宽度和第一临近障碍物处的通行宽度中的较小值；当第一临近障碍物和第二临近障碍物靠近当前行驶车道左右两侧的不同侧时，综合通行宽度为第一临近障碍物和第二临近障碍物在当前行驶车道在左右方向上的最短距离。
在本申请的一个实施例中，控制模块620还用于在当前行驶车道在预设范围内存在一个障碍物时，获取障碍物的位置和尺寸，进而根据障碍物的位置、尺寸和当前行驶车道的宽度得到障碍物处的通行宽度，并在障碍物处的通行宽度小于第二预设安全通行宽度时，则控制车辆换道避障。
本申请的车辆自动驾驶时避障的系统，首先生成车辆附近预设范围的道路环境模型，在道路环境模型上提供所有车道的车道线和当前行驶车道中障碍物的位置尺寸。在当前车道的有效探测范围内存在多个障碍物时，根据与车辆最近的两个障碍物处的通行宽度，以及此两个障碍物之间在车辆行驶方向上的距离和车速判断车辆在当前行驶车道能否避开此两个障碍物通行，进而控制该车辆行驶；在当前行驶车道的有效探测范围内仅存在一个障碍物时，判断该障碍物处的通行宽度是否可以供车辆避开该障碍物，进而控制该车辆行驶。
需要说明的是，本申请实施例的车辆自动驾驶时避障的系统的具体实现方式与本申请实施例的车辆自动驾驶时避障的方法的具体实现方式类似，具体请参见方法部分的描述，为了减少冗余，此处不做赘述。
进一步地，本申请的实施例公开了一种车辆，设置有如上述任意一个实施例中的车辆自动驾驶时避障的生成系统。该车辆可以根据当前行驶道路的障碍物位置和尺寸判断是否可以通行。
另外，根据本申请实施例的车辆的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和 原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (16)

  1. 一种车辆自动驾驶时避障的方法，其特征在于，包括以下步骤：
    提供车辆附近预设范围的道路环境模型，所述道路环境模型包括所述车辆附近预设范围内的车道位置和车道宽度，以及障碍物的尺寸和位置；
    如果当前行驶车道在所述预设范围内存在多个障碍物，则根据所述道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸、所述当前行驶车道的宽度以及所述第一临近障碍物与所述第二临近障碍物在所述当前行驶车道行驶方向上的障碍物间距，并获取所述车辆的车速；
    根据所述第一临近障碍物的位置和尺寸、所述第二临近障碍物的位置和尺寸、所述车辆的车速和所述障碍物间距判断所述车辆是否可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；
    根据判断结果对所述车辆进行避障控制；
    其中，所述第一临近障碍物为所述当前行驶车道的行驶方向上与所述车辆最近的障碍物，所述第二临近障碍物为所述当前行驶车道的行驶方向上所述第一临近障碍物最近的障碍物。
  2. 根据权利要求1所述的车辆自动驾驶时避障的方法，其特征在于，所述根据判断结果对所述车辆进行避障控制，包括：
    如果可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行，则控制所述车辆在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
  3. 根据权利要求1或2中任一项所述的车辆自动驾驶时避障的方法，其特征在于，所述根据判断结果对所述车辆进行避障控制，还包括：
    如果不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行，则控制所述车辆换道避障。
  4. 根据权利要求1-3中任一项所述的车辆自动驾驶时避障的方法，其特征在于，所述根据所述第一障碍物的位置和尺寸、所述第二障碍物的位置和尺寸、所述车辆的车速和所述障碍物间距判断所述车辆是否可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行的步骤，具体包括：
    根据所述第一临近障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述第一临近障碍物处的通行宽度；
    如果所述第一临近障碍物处的通行宽度小于第一预设安全通行宽度，则判定所述车辆 不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；
    如果所述第一临近障碍物处的通行宽度大于所述第一预设安全通行宽度，则根据所述第二临近障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述第二临近障碍物处的通行宽度；
    如果所述第二临近障碍物处的通行宽度小于所述第一预设安全通行宽度，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；
    如果所述第二临近障碍物处的通行宽度大于所述第一预设安全通行宽度，则获取经过所述第一临近障碍物的车辆位置和经过所述第二临近障碍物的车辆位置；
    根据所述经过所述第一临近障碍物的车辆位置、所述经过所述第二临近障碍物的车辆位置、所述车辆的车速和所述障碍物间距判断所述车辆是否可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置；
    如果判定所述车辆可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；
    如果判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
  5. 根据权利要求4所述的车辆自动驾驶时避障的方法，其特征在于，所述根据所述经过所述第一临近障碍物的车辆位置、所述经过所述第二临近障碍物的车辆位置、所述车辆的车速和所述障碍物间距判断所述车辆是否可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置的步骤，具体包括：
    以所述经过所述第一临近障碍物的车辆位置为起点，以经过所述第二临近障碍物的车辆位置为终点，判断所述车辆是否可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点；
    如果可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点，则判定所述车辆可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置；
    如果不可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点，则判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置。
  6. 根据权利要求1-5中任一项所述的车辆自动驾驶时避障的方法，其特征在于，在所述提供车辆附近预设范围的道路环境模型的步骤之后，还包括：
    如果当前行驶车道在所述预设范围内存在多个障碍物，则根据所述道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸和所述当前行驶车道的宽度；
    根据所述第一临近障碍物的位置和尺寸、所述第二临近障碍物的位置和尺寸和所述当前行驶车道的宽度得到综合通行宽度；
    如果所述综合通行宽度大于第二预设安全行驶宽度，则控制所述车辆在所述第一临近障碍物和所述第二临近障碍物之间直线行驶；
    其中，当所述第一临近障碍物和所述第二临近障碍物均靠近所述当前行驶车道左右两侧的同一侧时，所述综合通行宽度为所述第一临近障碍物处的通行宽度和所述第一临近障碍物处的通行宽度中的较小值；当所述第一临近障碍物和所述第二临近障碍物靠近所述当前行驶车道左右两侧的不同侧时，所述综合通行宽度为所述第一临近障碍物和所述第二临近障碍物在所述当前行驶车道在左右方向上的最短距离。
  7. 根据权利要求1-6中任一项所述的车辆自动驾驶时避障的方法，其特征在于，在所述提供车辆附近预设范围的道路环境模型的步骤之后，还包括：
    如果所述当前行驶车道在所述预设范围内存在一个障碍物，则根据所述道路环境模型获取所述障碍物的位置和尺寸，并获取所述当前行驶车道的车道宽度；
    根据所述障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述障碍物处的通行宽度；
    如果所述障碍物处的通行宽度大于第三预设安全通行宽度，则控制所述车辆在所述当前行驶车道内避开所述障碍物行驶。
  8. 根据权利要求1-7中任一项所述的车辆自动驾驶时避障的方法，其特征在于，所述提供车辆附近预设范围的道路环境模型的步骤，具体包括：
    获取所述车辆的位置信息，所述当前行驶车道内的障碍物的位置和尺寸，以及所述车辆附近预设范围内的车道位置和车道宽度信息；
    根据所述车辆的位置信息，所述当前行驶车道内的障碍物的位置和尺寸，以及所述车辆附近预设范围内的车道位置和车道宽度信息生成所述道路环境模型。
  9. 一种车辆自动驾驶时避障的系统，其特征在于，包括：
    道路环境模型提供模块，用于提供车辆附近预设范围的道路环境模型，所述道路环境模型包括所述车辆附近预设范围内的车道位置和车道宽度，以及障碍物的尺寸和位置；
    控制模块，用于根据所述道路环境模型得知在当前行驶车道在所述预设范围内存在多个障碍物时，根据所述道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸、所述当前行驶车道的宽度以及所述第一临近障碍物与所述第二临近障碍物在所述当前行驶车道行驶方向上的障碍物间距，并获取所述车辆的车速，进而根据所述第 一临近障碍物的位置和尺寸、所述第二临近障碍物的位置和尺寸、所述车辆的车速和所述障碍物间距判断所述车辆是否可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行，并根据判断结果对所述车辆进行避障控制；
    其中，所述第一临近障碍物为所述当前行驶车道的行驶方向上与所述车辆最近的障碍物，所述第二临近障碍物为所述当前行驶车道的行驶方向上所述第一临近障碍物最近的障碍物。
  10. 根据权利要求9所述的车辆自动驾驶时避障的系统，其特征在于，所述控制模块具体用于在可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行时，控制所述车辆在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
  11. 根据权利要求9或10中任一项所述的车辆自动驾驶时避障的系统，其特征在于，所述控制模块具体用于在不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行时，控制所述车辆换道避障。
  12. 根据权利要求9-11中任一项所述的车辆自动驾驶时避障的系统，其特征在于，所述控制模块具体用于根据所述第一临近障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述第一临近障碍物处的通行宽度；如果所述第一临近障碍物处的通行宽度小于第一预设安全通行宽度，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果所述第一临近障碍物处的通行宽度大于所述第一预设安全通行宽度，则根据所述第二临近障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述第二临近障碍物处的通行宽度；如果所述第二临近障碍物处的通行宽度小于所述第一预设安全通行宽度，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果所述第二临近障碍物处的通行宽度大于所述第一预设安全通行宽度，则获取经过所述第一临近障碍物的车辆位置和经过所述第二临近障碍物的车辆位置；根据所述经过所述第一临近障碍物的车辆位置、所述经过所述第二临近障碍物的车辆位置、所述车辆的车速和所述障碍物间距判断所述车辆是否可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置；如果判定所述车辆可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行；如果判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置，则判定所述车辆不可以在所述当前行驶车道内避开所述第一临近障碍物和所述第二临近障碍物通行。
  13. 根据权利要求12所述的车辆自动驾驶时避障的系统，其特征在于，所述控制模块 还用于以所述经过所述第一临近障碍物的车辆位置为起点，以经过所述第二临近障碍物的车辆位置为终点，判断所述车辆是否可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点；如果可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点，则判定所述车辆可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置；如果不可以从所述起点在所述障碍物间距下匀速或减速行驶至所述终点，则判定所述车辆不可以从所述经过所述第一临近障碍物的车辆位置行驶至所述经过所述第二临近障碍物的车辆位置。
  14. 根据权利要求9-13中任一项所述的车辆自动驾驶时避障的系统，其特征在于，所述控制模块还用于如果当前行驶车道在所述预设范围内存在多个障碍物，则根据所述道路环境模型获取第一临近障碍物的位置和尺寸、第二临近障碍物的位置和尺寸和所述当前行驶车道的宽度；根据所述第一临近障碍物的位置和尺寸、所述第二临近障碍物的位置和尺寸和所述当前行驶车道的宽度得到综合通行宽度；如果所述综合通行宽度大于第二预设安全行驶宽度，则控制所述车辆在所述第一临近障碍物和所述第二临近障碍物之间直线行驶；
    其中，当所述第一临近障碍物和所述第二临近障碍物均靠近所述当前行驶车道左右两侧的同一侧时，所述综合通行宽度为所述第一临近障碍物处的通行宽度和所述第一临近障碍物处的通行宽度中的较小值；当所述第一临近障碍物和所述第二临近障碍物靠近所述当前行驶车道左右两侧的不同侧时，所述综合通行宽度为所述第一临近障碍物和所述第二临近障碍物在所述当前行驶车道在左右方向上的最短距离。
  15. 根据权利要求9-14中任一项所述的车辆自动驾驶时避障的系统，其特征在于，所述控制模块还用于在所述当前行驶车道在所述预设范围内存在一个障碍物时，获取所述障碍物的位置和尺寸，进而根据所述障碍物的位置、尺寸和所述当前行驶车道的宽度得到所述障碍物处的通行宽度，并在所述障碍物处的通行宽度小于第二预设安全通行宽度时，控制所述车辆换道避障。
  16. 一种车辆，其特征在于，包括权利要求9-15中任一项所述的车辆自动驾驶时避障的系统。
PCT/CN2019/129278 2018-12-29 2019-12-27 车辆自动驾驶时避障的方法、系统及车辆 Ceased WO2020135738A1 (zh)

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