The invention provides a vehicle collision avoidance method and device, equipment and a storage medium, and relates to the technical field of computers. According to the specific implementation scheme, under the condition that it is predicted that an obstacle in a moving state will collide with a vehicle in an automatic driving mode, the target speed direction of the next target position to which the vehicle travels is determined according to a planned path; determining a speed obstacle cone of the obstacle by using a speed obstacle algorithm according to the current speed of the vehicle and the current speed of the obstacle; according to the speed obstacle cone and the target speed direction, the target driving speed of the vehicle is determined, and the target driving speed is used for preventing an obstacle from colliding with the vehicle; and based on the target driving speed, controlling the vehicle to drive to the next target position according to the planned path. According to the scheme, under the condition that the planned path is not changed, the vehicle can be prevented from being collided by the obstacle in the moving state only by changing the running speed of the vehicle.

    本公开提供了车辆避撞的方法、装置、设备以及存储介质,涉及计算机技术领域。具体实现方案为:在预测到处于运动状态的障碍物将碰撞处于自动驾驶模式的自车的情况下,根据规划路径,确定自车行驶到的下一目标位置的目标速度方向;根据自车的当前速度和障碍物的当前速度,利用速度障碍算法,确定障碍物的速度障碍锥;根据速度障碍锥和目标速度方向,确定自车的目标行驶速度,其中,目标行驶速度用于避免障碍物碰撞自车;基于目标行驶速度,控制自车按照规划路径行驶至下一目标位置。根据本公开的方案,可以实现在不改变规划路径的情况下,仅通过改变自车的行驶速度即可避免被处于运动状态的障碍物碰撞。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Vehicle collision avoidance method, device and equipment and storage medium


    Weitere Titelangaben:

    车辆避撞的方法、装置、设备以及存储介质


    Beteiligte:
    ZHAO MING (Autor:in)

    Erscheinungsdatum :

    02.04.2024


    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



    Vehicle collision avoidance method, device and equipment and storage medium

    ZHANG BO / HE TIANYI | Europäisches Patentamt | 2025

    Freier Zugriff

    Vehicle collision avoidance control method, device and equipment and storage medium

    QU HUI / MENG JUNFENG / BAI LISHA et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Steering collision avoidance method, device and equipment, storage medium and vehicle

    WU WEIWEI | Europäisches Patentamt | 2024

    Freier Zugriff

    Vehicle collision avoidance method and device, electronic equipment and storage medium

    ZHAN HAOBAI | Europäisches Patentamt | 2024

    Freier Zugriff

    Vehicle dynamic collision avoidance method and device, electronic equipment and storage medium

    ZHAO HONGBO / ZHANG LIANGLIANG | Europäisches Patentamt | 2024

    Freier Zugriff