The invention relates to an obstacle avoidance method based on a vehicle-mounted unit and a road side unit, equipment and a storage medium. The method is used for improving the accuracy of an obstacleavoidance decision of an automatic driving vehicle, and comprises the steps of S1, controlling the vehicle-mounted unit to obtain the position, speed and direction of an obstacle in front of the vehicle, and calculating a moving track of the obstacle according to the position, speed and direction of the obstacle; S2, judging the motion attribute of the obstacle according to the moving track; S3,if the judgment result shows that the obstacle is dynamic, starting the vehicle-mounted unit to predict whether there is collision possibility between the vehicle and the moving track of the obstacleor not, and controlling the vehicle to park and avoid based on the prediction result; and S4, if the judgment result shows that the obstacle is static, controlling the vehicle-mounted unit to acquireroad closure information of the current road from the road side unit, and controlling the vehicle to execute a road changing operation or bypass the obstacle to drive along the original road accordingto the road closure information.
本发明涉及一种基于车载单元和路侧单元的避障方法、设备、存储介质,其中方法用于提升自动驾驶车辆避障决策的准确度,包括:步骤S1.控制车载单元获取自身车辆前方障碍物的位置、速度及方向,根据障碍物的位置、速度及方向计算其移动轨迹;步骤S2.根据移动轨迹,判断障碍物的运动属性;步骤S3.若判断结果显示障碍物为动态,则启动车载单元预测自身车辆与障碍物的移动轨迹是否存在碰撞可能,并基于预测结果控制自身车辆进行停车避让;步骤S4.若判断结果显示障碍物为静态,则控制车载单元向路侧单元获取当前道路的封路信息,根据封路信息控制自身车辆执行换路操作或绕开障碍物以沿原来道路行驶。
Obstacle avoidance method based on vehicle-mounted unit and road side unit, equipment and storage medium
基于车载单元和路侧单元的避障方法、设备、存储介质
2020-07-31
Patent
Electronic Resource
Chinese
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