The invention provides a collision avoidance method and device, a storage medium and computer equipment, and the method comprises the steps: predicting whether an obstacle and a main vehicle will collide in a future simulation frame or not in a current simulation frame according to an obstacle prediction track and a main vehicle prediction track corresponding to the current simulation frame; if the obstacle collides with the main vehicle in the future simulation frame, acquiring a predicted position of a target obstacle when the collision occurs; according to the predicted position of the target obstacle, the real-time speed of the obstacle corresponding to the current simulation frame and the predicted trajectory of the main vehicle, calculating avoidance deceleration corresponding to the current simulation frame; and according to the avoidance deceleration corresponding to the current simulation frame and the real-time obstacle speed corresponding to the current simulation frame, determining the real-time obstacle speed corresponding to the next simulation frame, and entering the next simulation frame. By adopting the scheme of the invention, the efficiency of the simulation result can be improved.
本申请提供了一种碰撞避让方法、装置、存储介质及计算机设备,所述方法包括:在当前仿真帧中,根据当前仿真帧所对应的障碍物预测轨迹和主车预测轨迹,预测障碍物与主车是否会在未来仿真帧中发生碰撞;若所述障碍物与所述主车会在未来仿真帧中发生碰撞,则获取发生碰撞时的目标障碍物预测位置;根据所述目标障碍物预测位置、所述当前仿真帧对应的障碍物实时速度和所述主车预测轨迹,计算所述当前仿真帧对应的避让减速度;根据所述当前仿真帧对应的避让减速度和所述当前仿真帧对应的障碍物实时速度,确定下一仿真帧对应的障碍物实时速度,并进入下一仿真帧。采用本申请的方案能够提高仿真结果的有效率。
Collision avoidance method and device, storage medium and computer equipment
碰撞避让方法、装置、存储介质及计算机设备
2023-01-20
Patent
Electronic Resource
Chinese
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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