The invention provides a vehicle obstacle avoidance method and device, electronic equipment and a vehicle, and relates to the technical field of vehicle obstacle avoidance. Acquiring a front road image of the vehicle, and determining coordinates of concave and convex points in the front road image; then, a first steering wheel turning angle of the vehicle is obtained, wheel turning angles of the vehicle are calculated according to the first steering wheel turning angle, a wheel movement track equation of the vehicle is determined according to the wheel turning angles and the first vehicle speed, and the first vehicle speed is the current vehicle speed; and finally, according to the wheel motion trajectory equation and the coordinates of the concave and convex points, determining whether the vehicle has an obstacle encountering risk, and under the condition that the vehicle has the obstacle encountering risk, sending alarm prompt information to a user. According to the method and the device, whether the vehicle has the obstacle encountering risk or not is determined by predicting whether the wheel movement track of the vehicle coincides with the concave-convex points or not, and the corresponding prompt information is sent to the user, so that the user performs corresponding operation in advance, and the driving safety is greatly improved.

    本发明提供了一种车辆避障方法、装置、电子设备及车辆,涉及车辆避障技术领域。获取车辆的前方道路图像,并确定前方道路图像中凹凸点的坐标。然后,获取车辆的第一方向盘转角角度,并根据第一方方向盘转角角度,计算车辆的车轮转角角度,并根据车轮转角角度和第一车速,确定车辆的车轮运动轨迹方程,其中,第一车速为当前车速。最后,根据车轮运动轨迹方程与凹凸点的坐标,确定车辆是否存在遇障风险,在确定车辆存在遇障风险的情况下,向用户发送告警提示信息。在本发明中,通过预测车辆的车轮运动轨迹与凹凸点是否重合,来确定车辆是否存在遇障风险,并且向用户发送对应的提示信息,使用户提前做出相应操作,大大提高了行车安全性。


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    Title :

    Vehicle obstacle avoidance method and device, electronic equipment and vehicle


    Additional title:

    车辆避障方法、装置、电子设备及车辆


    Contributors:
    JIA XUETAO (author)

    Publication date :

    2022-11-04


    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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