The invention discloses an intelligent vehicle active obstacle avoidance control method and device, a storage medium and a terminal. The method comprises the steps of obtaining state information of a vehicle and state information of traffic participants around the vehicle; estimating the risk of each traffic participant to the vehicle according to the state information of the vehicle and the state information of each traffic participant; according to the risk of each traffic participant to the vehicle, whether a front obstacle exists in front of the current lane within a preset driving risk range is judged; and when the front obstacle exists, determining an obstacle avoidance strategy according to the relationship between the risk generated by each traffic participant to the vehicle and the braking obstacle avoidance risk threshold and the relationship between the risk generated by each traffic participant and the lane changing obstacle avoidance risk threshold, and executing an obstacle avoidance operation corresponding to the determined obstacle avoidance strategy. The braking obstacle avoidance risk threshold value and the lane changing obstacle avoidance risk threshold value are both related to the state information of the vehicle and each traffic participant. According to the scheme, the efficiency of determining the vehicle active obstacle avoidance strategy can be improved, and the driving safety is improved.

    一种智能车辆主动避障控制方法及装置、存储介质、终端,所述方法包括:获取本车的状态信息以及本车周围的各交通参与者的状态信息;根据本车的状态信息以及各交通参与者的状态信息,估算各交通参与者对本车产生的风险;根据各交通参与者对本车产生的风险,判断在预设行车风险范围内当前车道的前方是否存在前方障碍物;当存在前方障碍物时,根据各交通参与者对本车产生的风险与制动避障风险阈值以及与换道避障风险阈值之间的关系,确定避障策略,并执行与所确定的避障策略对应的避障操作,制动避障风险阈值以及换道避障风险阈值均与本车以及各交通参与者的状态信息相关。上述方案能够提高车辆主动避障策略确定的高效性及提高行车安全。


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    Title :

    Intelligent vehicle active obstacle avoidance control method and device, storage medium and terminal


    Additional title:

    一种智能车辆主动避障控制方法及装置、存储介质、终端


    Contributors:
    LIU KE (author) / WANG JIANQIANG (author) / DING FENG (author) / HUANG HEYE (author) / NIE SHIDA (author) / XU QING (author)

    Publication date :

    2022-10-11


    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF