The embodiment of the invention discloses a vehicle steering obstacle avoidance method and device and a storage medium, and the method comprises the steps: obtaining a steering obstacle avoidance track for a target vehicle when it is determined that there is a collision risk between the target vehicle and a first obstacle and a steering obstacle avoidance condition is satisfied; the lateral speed of the target vehicle is obtained, an improved constant rotation rate and speed model is constructed according to the lateral speed, and the improved constant rotation rate and speed model is pre-estimated to obtain final state information; and performing steering obstacle avoidance control on the target vehicle according to the steering obstacle avoidance track and the final state information. The improved transverse rate and speed model is constructed by introducing the lateral speed of the target vehicle, and the final state information is acquired through the model, so that the acquired final state information is more accurate, steering obstacle avoidance control is performed along the pre-acquired steering obstacle avoidance trajectory according to the final state information, and when a collision risk occurs, the collision risk is reduced. And accurate control over vehicle steering is achieved.
本发明实施例公开了一种车辆转向避障方法、设备和存储介质,包括:在确定目标车辆与第一障碍物之间存在碰撞风险并且符合转向避障条件时,获取针对目标车辆的转向避障轨迹;获取目标车辆的侧向速度,根据侧向速度构建改进恒定转率和速度模型,对改进恒定转率和速度模型进行预估获取最终状态信息;根据转向避障轨迹和最终状态信息对目标车辆进行转向避障控制。通过引入目标车辆的侧向速度构建改进横向速率和速度模型,并通过模型获取最终状态信息,从而使得所获取的最终状态信息更加准确,并根据最终状态信息沿着预先获取的转向避障轨迹进行转向避障控制,从而当出现碰撞风险时,实现对车辆转向的精准控制。
Vehicle steering obstacle avoidance method and device and storage medium
车辆转向避障方法、设备和存储介质
2022-11-22
Patent
Elektronische Ressource
Chinesisch
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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