The invention discloses a vehicle detouring method and device, a vehicle and a storage medium, and the method comprises the steps: planning a detouring route of the vehicle after detecting that the vehicle enters a detouring scene, and obtaining a target detouring track and a detouring interval; all obstacles are obtained in the detouring interval, the obstacles which have no influence on the vehicle are removed from all the obstacles, and then the remaining obstacles are marked as dangerous obstacles; and determining the time difference between each dangerous obstacle and the time when the vehicle arrives at the detouring interval, determining a detouring decision matched with the vehicle according to the time difference, and controlling the vehicle to run according to the detouring decision. According to the technical scheme of the embodiment of the invention, the safety and stability of the automatic driving vehicle in the bypassing process can be improved.

    本发明公开了一种车辆绕行方法、装置、车辆及存储介质,包括:检测到车辆进入绕行场景后,对车辆的绕行路线进行规划,得到目标绕行轨迹以及绕行区间;在绕行区间中获取全部障碍物,并在全部障碍物中剔除对车辆没有影响的障碍物,然后将剩余障碍物标记为危险障碍物;确定各危险障碍物与车辆到达绕行区间的时间差,根据时间差确定与车辆匹配的绕行决策,并按照绕行决策控制车辆行驶。本发明实施例的技术方案可以提高自动驾驶车辆绕行过程的安全性与稳定性。


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    Title :

    Vehicle bypassing method and device, vehicle and storage medium


    Additional title:

    一种车辆绕行方法、装置、车辆及存储介质


    Contributors:
    QIU YUNHAI (author) / SHANG BINGXU (author) / WANG HONGFENG (author) / CHEN ZHIXIN (author) / LIU YANG (author) / HE LIU (author) / ZHANG ZHONGJU (author) / ZHANG YONG (author) / JIN BAIXIN (author)

    Publication date :

    2023-08-04


    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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