The invention relates to an automatic driving obstacle avoidance planning method and device for a rhombic vehicle, computer equipment and a storage medium. The method comprises the steps that under the condition that an obstacle is detected, the actual distance between a target vehicle and the obstacle is acquired, and the safe distance between the target vehicle and the obstacle is determined according to the speed of the target vehicle; according to the safe distance and the actual distance, the weight coefficient of each target index is determined, and the target indexes comprise at least one of an obstacle avoidance time index, a transverse acceleration index and an obstacle avoidance distance index; constructing an optimization index according to each target index and the weight coefficient of each target index; parameter values corresponding to all control parameters of the target vehicle are determined, the parameter values corresponding to all the control parameters enable the optimization indexes to meet the optimization conditions, and all the driving parameters of the target vehicle meet the vehicle control conditions; and controlling the target vehicle to run according to the parameter values corresponding to the control parameters. By adopting the method, the obstacle avoidance track suitable for the rhombic vehicle can be constructed.
本申请涉及一种面向菱形车辆的自动驾驶避障规划方法、装置、计算机设备和存储介质。所述方法包括:在检测到障碍物的情况下,获取目标车辆与障碍物的实际距离,并根据目标车辆的速度,确定目标车辆与障碍物的安全距离;根据安全距离和实际距离,确定各目标指标的权重系数,目标指标包括避障时间指标、横向加速度指标及避障距离指标中的至少一项;根据各目标指标和各目标指标的权重系数,构建优化指标;确定目标车辆各项控制参数对应的参数值,各项控制参数对应的参数值使得优化指标满足优化条件,且使得目标车辆的各行驶参数满足车辆控制条件;根据各项控制参数对应的参数值,控制目标车辆行驶。采用本方法能够构建适合菱形车的避障轨迹。
Automatic driving obstacle avoidance planning method and device for rhombic vehicle
一种面向菱形车辆的自动驾驶避障规划方法及装置
2023-05-09
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 |
Obstacle avoidance method and device for automatic driving vehicle and vehicle
European Patent Office | 2020
|Automatic driving obstacle avoidance method and device, storage medium and vehicle
European Patent Office | 2024
|Obstacle avoidance method and device based on automatic driving
European Patent Office | 2021
|