| 摘要 |
For the lateral avoidance of a mobile zone (10) by a vehicle (1) based on periodically supplied information concerning the mobile zone to be avoided (10) and on an initially scheduled route (2) for the vehicle, the method comprises: defining periodically (18) the envelope of the said zone (10), determining (19) a circumscribed circle (12) to the said envelope, and the speed vector (3) of the circle (12), determining the route (2) portion situated on the passage of the circle (12), if the vehicle must enter the circle (12), computing (24) port (B1-B2-B3) and starboard (A1-A2-A3) trajectories for avoiding the zone defined by the circle (12), selecting one of these two avoidance trajectories (A1-A2-A3, B1-B2-B3) according to the length of the newly computed avoidance routes and the direction of movement of the zone to be avoided (10).
|
