The invention discloses an obstacle avoidance method and device for an autonomous vehicle. The method comprises the following steps: acquiring vehicle radar data at the current moment; acquiring vehicle radar data at the previous moment of the current moment; according to the vehicle radar data at the current moment and the vehicle radar data at the moment before the current moment, obtaining the position relation of an obstacle relative to a vehicle radar; the position relation of the obstacle relative to the vehicle radar is converted into a vehicle body coordinate system of the vehicle, and obstacle position coordinates detected by the vehicle radar at all moments based on the vehicle body coordinate system are obtained; acquiring an instantaneous turning center of the vehicle; generating a polar coordinate system containing the polar coordinates of the obstacle position according to the instantaneous turning center and the coordinates of the obstacle position; and obtaining the obstacle avoidance range of the vehicle according to the polar coordinate system containing the position coordinates of the obstacle. The traffic capacity of the automatic driving vehicle on the obstacle road section is enhanced, and the obstacle avoiding capacity of the automatic driving vehicle is improved.

    本发明公开了一种用于自动驾驶车辆的避障方法、装置,所述方法包括:获取当前时刻车辆雷达数据;获取当前时刻前一时刻车辆雷达数据;根据所述当前时刻车辆雷达数据以及当前时刻前一时刻车辆雷达数据获取障碍物相对于车辆雷达的位置关系;将所述障碍物相对于车辆雷达的位置关系转换在所述车辆的车身坐标系中,获得基于车身坐标系的各个时刻车辆雷达探测的障碍物位置坐标;获取所述车辆的瞬时转弯中心;根据所述瞬时转弯中心以及障碍物位置坐标生成包含有障碍物位置极坐标的极坐标系;根据所述包含有障碍物位置坐标的极坐标系获得所述车辆的避障范围。本发明增强自动驾驶车辆在障碍物路段的通行能力,提升自动驾驶车辆的绕障能力。


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    Title :

    Obstacle avoidance method and device for autonomous vehicle


    Additional title:

    一种用于自动驾驶车辆的避障方法、装置


    Contributors:
    WU GANGGANG (author) / DU JIANYU (author) / WANG HENGKAI (author) / LI CHAO (author) / CAO TIANSHU (author) / LI JIAJUN (author) / LIU QINGYU (author) / WANG HAONAN (author) / SONG XINLI (author) / HUANG XIANQING (author)

    Publication date :

    2023-06-02


    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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