The invention discloses a sweeper edge-attaching anti-collision planning method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a collision safety space of a vehicle according to road edge position information, and the collision safety space comprises a reserved interval between the vehicle and a road edge when the vehicle has an unexpected steering behavior; calculating a collision time threshold according to the collision safety space; the collision time of the vehicle is determined according to the current position and the current speed of the vehicle; comparing the collision time threshold value with the collision time to judge whether the vehicle has a collision risk or not; and in response to the collision risk, planning a welt anti-collision path. On one hand, it is guaranteed that the sweeper runs along the edge as far as possible to guarantee the sweeping cleanliness, and on the other hand, collision between the sweeper and the road edge caused by unexpected steering can be avoided. The method can be used for automatically driving the special vehicle.
本申请公开了一种清扫车贴边防碰撞规划方法、装置及电子设备、存储介质,所述方法包括:根据路沿位置信息,确定车辆的碰撞安全空间,所述碰撞安全空间包括车辆发生非预期转向行为时车辆与路沿预留间隔;根据所述碰撞安全空间,计算碰撞时间阈值;根据车辆的当前位置以及当前速度,确定车辆的碰撞时间;通过对比所述碰撞时间阈值与所述碰撞时间判断自车是否存在碰撞风险;以及响应于所述碰撞风险,规划出贴边防碰撞路径。通过本申请一方面保证清扫车尽可能地贴边行驶以保证清扫清洁度,另一方面可避免非预期的转向导致车辆与路沿发生碰撞。本申请可用于自动驾驶特种车辆。
Sweeper welt anti-collision planning method and device, electronic equipment and storage medium
清扫车贴边防碰撞规划方法、装置及电子设备、存储介质
28.02.2025
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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