Vehicle obstacle avoidance method and device, electronic equipment and storage medium

A vehicle and obstacle avoidance technology, applied in the field of unmanned driving, can solve problems such as poor dynamic obstacle avoidance effect, long time-consuming avoidance trajectory planning, and low vehicle response to dynamic environment, so as to reduce planning time and improve compatibility. Effect

Active Publication Date: 2021-07-09
新石器中研(上海)科技有限公司
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Problems solved by technology

[0005] In view of this, the embodiments of the present disclosure provide a vehicle obstacle avoidance method, device, electronic equipment, and storage medium to solve the problems in the prior art that the avoidance effect on dynamic obstacles is poor, and the planning of vehicle avoidance trajectories takes too long. Long, low responsiveness of the vehicle to dynamic environments

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  • Vehicle obstacle avoidance method and device, electronic equipment and storage medium
  • Vehicle obstacle avoidance method and device, electronic equipment and storage medium
  • Vehicle obstacle avoidance method and device, electronic equipment and storage medium

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Embodiment Construction

[0018] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and techniques are presented for a thorough understanding of the embodiments of the present disclosure. It will be apparent, however, to one skilled in the art that the present disclosure may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.

[0019] For unmanned driving motion planning, the vehicle needs to constantly deal with surrounding obstacles during driving, including dynamic obstacles and static obstacles. Among them, for dynamic obstacles, in addition to collecting the dynamic obstacles themselves In addition to information, it is also necessary to predict the trajectory of dynamic obstacles in the future (such as 8 ...

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Abstract

The invention relates to the technical field of unmanned driving, and provides a vehicle obstacle avoidance method and device, electronic equipment and a storage medium. The method is applied to unmanned equipment, namely automatic driving equipment or an unmanned vehicle, and comprises the following steps: carrying out collision detection on obstacles on a driving path of the vehicle, and when a detection result is that collision is predicted to occur, executing first feedback processing, wherein the first feedback processing is used for re-planning the driving path of the vehicle; performing collision detection according to a result of the first feedback processing, and executing second feedback processing when a detection result is that collision is predicted to occur, wherein the second feedback processing is used for re-planning the running speed of the vehicle; and performing collision detection according to a result of the second feedback processing, and executing the iterative processing process until an obstacle avoidance track is planned for the vehicle, so that the vehicle can travel along the obstacle avoidance track. The time consumption of trajectory planning during obstacle avoidance can be reduced, the compatibility of the planning algorithm is improved, and the response capability of the vehicle to the dynamic environment is improved.

Description

technical field [0001] The present disclosure relates to the technical field of unmanned driving, and in particular to a vehicle obstacle avoidance method, device, electronic equipment and storage medium. Background technique [0002] Unmanned motion planning technology is one of the core technologies of unmanned vehicles, which usually includes path planning and speed planning. In addition, obstacle avoidance is one of the common requirements of autonomous vehicles during the driving process of autonomous vehicles. In motion planning, there are generally special decision-making planning methods to plan the trajectory of vehicles when avoiding obstacles. [0003] In the prior art, conventional obstacle avoidance planning methods for self-driving vehicles generally only need to consider obstacle information and path planning in the same running cycle of motion planning, so the relationship between the vehicle and obstacles will not be considered in advance. This reactive obs...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/09B60W40/02B60W50/00
CPCB60W30/09B60W40/02B60W50/0098B60W2552/50B60W60/0015B60W2520/10B60W2554/80
Inventor 刘炳
Owner 新石器中研(上海)科技有限公司
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