The invention provides an obstacle avoidance method and device for a vehicle, the vehicle and a storage medium, relates to the technical field of vehicles, and can control the vehicle to complete lane changing and obstacle avoidance and guarantee the driving safety of a user. The method comprises the following steps: acquiring environment information of a target vehicle according to a sensor of the target vehicle; fusing the environment information, the high-precision map and the pose information of the target vehicle to construct an environment map; judging whether the target vehicle meets a preset lane changing condition or not according to the environment map and the state information of the obstacle target; under the condition that the target vehicle meets the preset lane changing condition, a control sequence is generated according to the vehicle kinematics model; and controlling the target vehicle according to the control sequence, so that the target vehicle completes lane changing and obstacle avoidance.
本申请提供一种车辆的避障方法、装置、车辆及存储介质,涉及车辆技术领域,能够控制车辆完成换道避障,保障用户的驾驶安全。该方法包括:根据目标车辆的传感器,获取目标车辆的环境信息;融合环境信息、高精地图以及目标车辆的位姿信息,构建环境地图;根据环境地图和障碍物目标的状态信息,判断目标车辆是否满足预设换道条件;在目标车辆满足预设换道条件的情况下,根据车辆运动学模型生成控制序列;根据控制序列,控制目标车辆,以使得目标车辆完成换道避障。
Obstacle avoidance method and device for vehicle, vehicle and storage medium
一种车辆的避障方法、装置、车辆及存储介质
2023-06-06
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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