The embodiment of the invention provides an obstacle avoidance control method and device, a vehicle and a storage medium, and the method comprises the steps: determining a target obstacle avoidance path of the vehicle according to the state information of the vehicle and the front obstacle information when the vehicle enters an emergency obstacle avoidance state; determining a target front wheel turning angle and a target rear wheel turning angle of the vehicle in the obstacle avoidance process according to the target obstacle avoidance path; and according to the target front wheel turning angle and the target rear wheel turning angle, the vehicle is controlled to avoid obstacles. By means of the method, before the vehicle collides with the obstacle, the obstacle avoidance path is actively planned, rear wheels and front wheels of the vehicle are made to rotate reversely through a rear wheel steering system in the obstacle avoidance process according to the planned path, the turning radius of the vehicle is reduced, the vehicle can actively avoid the obstacle within a short time under the condition that the vehicle is close to the front obstacle, and the obstacle avoidance efficiency is improved. And front vehicles or pedestrians are prevented from being collided. Personal safety of drivers and passengers and pedestrians is guaranteed, the operation burden of drivers is relieved, and the risk of vehicle damage is reduced.
本发明实施例提供了一种避障控制方法、装置、车辆及存储介质,该方法包括:当车辆进入紧急避障状态时,根据所述车辆的状态信息和前方障碍物信息,确定所述车辆的目标避障路径;根据所述目标避障路径,确定车辆在避障过程中的目标前轮转角和目标后轮转角;根据所述目标前轮转角和目标后轮转角,控制所述车辆进行避障。利用该方法,在与障碍物发生碰撞前,主动进行避障路径规划,当按照规划轨迹躲避障碍物过程中利用后轮转向系统使车辆后轮与前轮反向转动,减小车辆转弯半径,使车辆能够在与前方障碍物较近的情况下短时间内实现主动躲避,避免撞击前方车辆或行人。实现了保障驾乘人员及行人的人身安全,减轻驾驶员操纵负担,降低车损风险。
Obstacle avoidance control method and device, vehicle and storage medium
一种避障控制方法、装置、车辆及存储介质
2023-03-28
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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