The embodiment of the invention provides an obstacle avoidance method and device based on automatic driving, and the method comprises the steps: obtaining first path information planned for a current vehicle, and second path information predicted for dynamic obstacles around the current vehicle in an automatic driving process; determining collision interval information according to the first path information and the second path information; determining target speed control information for the current vehicle according to the collision interval information; and controlling the current vehicle to run by adopting the target speed control information so as to prevent the current vehicle from colliding with the dynamic obstacle. Through the embodiment of the invention, the target speed control information of the vehicle in the automatic driving process is accurately determined, so that the longitudinal decision on the dynamic obstacle can be implemented based on the target speed control information, for example, the dynamic obstacle is exceeded, followed or stopped to avoid collision with the dynamic obstacle.

    本发明实施例提供了一种基于自动驾驶的避障方法和装置,方法包括:在自动驾驶的过程中,获取针对当前车辆规划的第一路径信息,和针对所述当前车辆周围的动态障碍物预测的第二路径信息;根据所述第一路径信息和所述第二路径信息确定一碰撞区间信息;根据所述碰撞区间信息,确定针对所述当前车辆的目标速度控制信息;采用所述目标速度控制信息,控制所述当前车辆进行行驶,以避免所述当前车辆与所述动态障碍物发生碰撞。通过本发明实施例,实现了准确的确定自动驾驶过程中车辆的目标速度控制信息,进而可以基于目标速度控制信息实施对动态障碍物的纵向决策,例如是超过、跟随动态障碍物,还是停止来避开与动态障碍物的碰撞。


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    Title :

    Obstacle avoidance method and device based on automatic driving


    Additional title:

    一种基于自动驾驶的避障方法和装置


    Contributors:
    WEN YONGBING (author) / RONG JIKUN (author)

    Publication date :

    2021-11-16


    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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