The invention relates to a vehicle obstacle avoidance method and device, a computer readable storage medium and a vehicle, and the method comprises the steps: obtaining the attribute of an obstacle when the vehicle runs on a pre-planned path and detects the obstacle, and obtaining the obstacle based on the attribute of the obstacle and the vehicle parameter information of the vehicle; the first coordinate of the position where the center of the vehicle is located after the vehicle completes obstacle avoidance is determined, a target obstacle avoidance lane changing width is obtained through matching from multiple pre-stored obstacle avoidance lane changing widths based on the first coordinate, each obstacle avoidance lane changing width corresponds to a specified number of alternative routes, and a target route is determined from the alternative routes corresponding to the target obstacle avoidance lane changing width, an actual obstacle avoidance route is determined according to the first coordinates and the target route data, and the vehicle is controlled to run according to the actual obstacle avoidance route to avoid obstacles; the obstacle avoidance route can be adaptively adjusted according to the attribute of the obstacle and the condition of the vehicle, the riding experience of a driver and passengers is improved, and a guarantee is provided for ensuring the driving safety and improving the driving efficiency.

    本公开涉及一种车辆避障方法、装置、计算机可读存储介质及车辆,该方法包括:当车辆在预规划路径上行驶并检测到障碍物时,获取障碍物的属性,基于障碍物的属性及车辆的车辆参数信息,确定车辆完成避障后车辆中心所在位置的第一坐标,基于第一坐标从预存储的多个避障变道宽度中匹配得到目标避障变道宽度,每个避障变道宽度对应指定数量的备选路线,从目标避障变道宽度对应的备选路线中确定目标路线,根据第一坐标及目标路线数据确定实际避障路线,控制车辆按照实际避障路线行驶,以避开障碍物;能够根据障碍物的属性及车辆自身情况自适应调节避障路线,提升了驾乘人员的乘车体验,为确保行车安全及提高行车效率提供保障。


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    Title :

    Vehicle obstacle avoidance method and device, computer readable storage medium and vehicle


    Additional title:

    车辆避障方法、装置、计算机可读存储介质及车辆


    Contributors:
    CHEN YE (author) / ZHANG QIAN (author) / YANG MING (author)

    Publication date :

    2022-11-18


    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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