The invention provides an obstacle avoidance method and system for automatic driving of a vehicle, electronic equipment and a storage medium, and belongs to the technical field of automatic driving control. Comprising the steps of continuously performing dynamic window detection in front of a vehicle to obtain a detection result; dividing the dynamic window into a plurality of detection areas according to vehicle driving parameters and a preset mapping relation between the vehicle driving parameters and the detection areas; if the detection result contains an obstacle, comparing the relative position relationship between the obstacle and each detection area to obtain a position comparison result; and according to the position comparison result and a preset mapping relation between the position comparison result and the obstacle avoidance control logic, determining the obstacle avoidance control logic of the vehicle so as to perform obstacle avoidance. According to the invention, the time consumption and resource occupation of meaningless window establishment and the calculated quantity value of the central processing unit can be effectively reduced, the control performance such as the control period of the whole vehicle can be improved, and the efficiency and experience of automatic driving can be improved.

    本发明提供一种车辆自动驾驶的避障方法、系统、电子设备和存储介质,属于自动驾驶控制技术领域。包括:持续对车辆前方进行动态窗口探测,得到探测结果;根据车辆行驶参数以及预先设置的车辆行驶参数与探测区域之间的映射关系,将所述动态窗口划分为多个探测区域;若探测结果包含障碍,则比较所述障碍与各个探测区域之间的相对位置关系,得到位置比较结果;根据位置比较结果以及预先设置的位置比较结果与避障控制逻辑之间的映射关系,确定车辆的避障控制逻辑,以进行避障。本发明能够有效降低无意义的窗口建立耗时及资源占用,江苏中央处理器的计算量值,提升整车如控制周期等控制性能,增加自动驾驶行车的效率及体验。


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    Titel :

    Obstacle avoidance method and system for vehicle automatic driving, electronic equipment and storage medium


    Weitere Titelangaben:

    车辆自动驾驶的避障方法、系统、电子设备和存储介质


    Beteiligte:
    CHEN YUANYUAN (Autor:in)

    Erscheinungsdatum :

    2023-01-31


    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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