Road obstacle avoidance method and device for autonomous vehicle and readable storage medium

Abstract

The invention relates to an automatic driving vehicle road surface obstacle avoidance method and device and a readable storage medium, and relates to the technical field of automatic driving vehicles, and the method comprises the steps: obtaining a predicted driving track of a vehicle, and obtaining the road surface color information corresponding to the predicted driving track; detecting whether an obstacle exists in front of the vehicle based on the pavement color information; if yes, obtaining point cloud information corresponding to the obstacle; calculating basic information of the obstacle according to the point cloud information, wherein the basic information comprises contour data, size data, concave-convex shape data and position data of the obstacle; determining an obstacle avoidance strategy of the vehicle according to the basic information, the vehicle body information of the vehicle and the lane information, wherein the obstacle avoidance strategy is normal driving or decelerated driving or in-lane obstacle avoidance driving or in-lane obstacle crossing driving or cooperative line-merging lane-changing driving; and controlling the vehicle according to the obstacle avoidance strategy. According to the invention, the method can effectively recognize the obstacles on the pothole ground or the small-size road surface, and achieves the active avoidance of the obstacles on the pothole ground or the small-size road surface.

Description

technical field [0001] The present application relates to the technical field of self-driving vehicles, in particular to a road obstacle avoidance method, device and readable storage medium for self-driving vehicles. Background technique [0002] With the blowout development of smart interconnection, artificial intelligence technology and new energy technology, a new era of car intelligence that is different from science fiction movies has quietly arrived. For example, due to the large-scale and extensive application of the Internet of Vehicles in the automobile manufacturing industry, not only intelligent transportation has become a reality, but also autonomous driving has become possible. Among them, self-driving vehicles can rely on the cooperation of artificial intelligence, visual computing, radar, monitoring devices and global positioning systems, so that computers can automatically and safely operate motor vehicles without anyone actively operating. [0003] In relat...

AI Technical Summary

Problems solved by technology

[0005] The present application provides a road obstacle avoidance method, device and readable storage medium for an automatic driving vehicle to solve the problem in the related art that the automatic driving vehicle cannot actively avoid potholes or small-sized road obstacles

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