The invention provides a control method, related equipment and a computer readable storage medium, and the method comprises the steps: firstly obtaining vehicle information, obstacle information and a drivable region of a vehicle; and executing first processing according to the vehicle information, the obstacle information and the drivable region of the vehicle; wherein the vehicle information, the obstacle information and the drivable region of the vehicle indicate M planned paths, M is an integer greater than 0, the M planned paths correspond to respective passage cost, the passage cost is related to at least one of the following information: the risk level of the obstacle and the risk level of the vehicle, the risk level of the obstacle is used for representing the possible invasion of the obstacle into the drivable region of the vehicle and the possible loss degree of the obstacle to the vehicle, and the risk level of the vehicle is used for representing the possible loss degree of the vehicle to the obstacle. By implementing the method, the obstacle can be effectively avoided, and the safety and smoothness of vehicle driving are ensured.

    本申请提供了一种控制方法、相关设备及计算机可读存储介质,该方法中,首先获取车辆信息、障碍物信息以及车辆的可行驶区域。根据车辆信息、障碍物信息,并结合车辆的可行驶区域,执行第一处理;其中,车辆信息、障碍物信息以及车辆的可行驶区域指示了M条规划路径,M为大于0的整数;M条规划路径对应各自的通行代价,通行代价与以下信息中的至少一种有关:障碍物的风险等级、车辆的风险等级;障碍物的风险等级用于表征障碍物可能侵占车辆的可行驶区域且障碍物对车辆可能造成的损失程度;车辆的风险等级用于表征车辆可能对障碍物造成的损失程度。实施本申请,可有效避让障碍物,保证车辆行驶的安全性和平顺性。


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    Title :

    Control method, related equipment and computer readable storage medium


    Additional title:

    控制方法、相关设备及计算机可读存储介质


    Contributors:
    WANG CUNLIAN (author) / CHEN RUI (author) / GONG SHENGBO (author) / WU XI (author) / REN HUIJIN (author)

    Publication date :

    2021-04-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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