The invention relates to an automatic driving control system, a collision avoidance control method thereof and a readable storage medium. A collision avoidance control method of an embodiment having an automated driving control system includes: a controller; generating a grid map by storing vehicle information including a position and a velocity vector of the vehicle and object information including a position and a velocity vector of an object sensed around the vehicle in a grid cell corresponding to an area occupied by the vehicle and the object, and determining a region where the grid cells occupied by the vehicle within each reference time set based on the vehicle information and the grid cells occupied by the object within each reference time predicted based on the object information overlap as a collision risk region to control avoidance of the collision risk region.
本公开涉及自动驾驶控制系统及其规避碰撞控制方法,可读存储介质。具有自动驾驶控制系统的实施例规避碰撞控制方法包括:通过将包括车辆的位置和速度向量的车辆信息和包括在车辆周围感测的对象的位置和速度向量的对象信息存储在对应于由车辆和对象所占用的区域的网格单元格中来生成网格地图,并且确定基于车辆信息设定的每个参考时间内由车辆占用的网格单元格与基于对象信息预测的每个参考时间内由对象占用的网格单元格重叠的区域作为碰撞风险区域,以控制规避碰撞风险区域。
Automatic driving control system, collision avoidance control method thereof and readable storage medium
自动驾驶控制系统及其规避碰撞控制方法,可读存储介质
2023-08-04
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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