The invention discloses an automatic driving obstacle avoidance method and system, and a storage medium. The method comprises the steps of obtaining obstacle information of a road; wherein the obstacle information at least comprises coordinates of an obstacle; determining a passable area according to the obstacle information; determining a preview point according to the passable area, and calculating the attraction of the preview point to the vehicle according to the preview point and a preset gravitational potential field function; according to the coordinates of the obstacles on the two sides of the passable area and a preset repulsive force potential field function, repulsive force of the obstacles to the vehicle is calculated; calculating resultant force according to the attractive force and the repulsive force; a steering wheel angle control instruction is generated according to the resultant force, and a vehicle execution mechanism is controlled to execute the steering wheel angle control instruction to achieve obstacle avoidance. According to the method, the defect that an artificial potential field method is caught in local minimum can be overcome, and the problems of unmanned vehicle environment constraint and vehicle self constraint in a structured urban environment can be solved.

    本发明公开了一种自动驾驶避障方法及系统、存储介质,包括:获取道路的障碍物信息;其中所述障碍物信息至少包括障碍物的坐标;根据所述障碍物信息确定可通行区域;根据所述可通行区域确定预瞄点,并根据所述预瞄点和预设的引力势场函数计算所述预瞄点对本车的吸引力;根据所述可通行区域两侧的障碍物的坐标和预设的斥力势场函数计算障碍物对本车的斥力;根据所述吸引力和所述斥力计算合力;根据所述合力生成方向盘转角控制指令,并控制车辆执行机构执行所述方向盘转角控制指令以实现避障。本发明能够解决人工势场法陷入局部极小的缺陷,以及结构化城市环境下无人驾驶车环境约束及车辆自身约束的问题。


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    Titel :

    Automatic driving obstacle avoidance method and system, and storage medium


    Weitere Titelangaben:

    一种自动驾驶避障方法及系统、存储介质


    Beteiligte:
    XIU CAIJING (Autor:in) / LIANG WEIQIANG (Autor:in) / GUO JISHUN (Autor:in)

    Erscheinungsdatum :

    2022-10-25


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion





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