The invention discloses a vehicle bypassing method and device, electronic equipment, a vehicle and a storage medium. The method specifically comprises the following steps: acquiring a reference track of a current vehicle, a map of an area and obstacle information in a preset range of the area acquired by a sensing system of the current vehicle; determining an obstacle sequence in the region according to the reference trajectory and the obstacle information; according to the reference trajectory, the regional map and the obstacle sequence, judging whether the current vehicle meets a detouring forbidding condition; and if the current vehicle does not conform to the detouring prohibition condition, determining the detouring direction of the current vehicle according to the regional map and the obstacle sequence, and performing detouring motion according to the detouring direction. According to the reference trajectory, the map of the region and the obstacle information, determining a detour decision by judging a detour forbidding condition; the detouring direction is determined according to the obstacle, and the detouring decision reasonability is improved. The detour trajectory planning time is shortened, and the detour planning efficiency is further improved while the safety is ensured.

    本申请公开了一种车辆绕行方法、装置、电子设备、车辆和存储介质。具体包括:获取当前车辆的参考轨迹、所在区域地图以及通过当前车辆的感知系统获取的所在区域预设范围内的障碍物信息;根据参考轨迹和障碍物信息,确定所在区域中的障碍物序列;根据参考轨迹、所在区域地图和障碍物序列,判断当前车辆是否符合禁止绕行条件;若当前车辆不符合禁止绕行条件,则根据所在区域地图和障碍物序列,确定当前车辆的绕行方向,并按绕行方向进行绕行运动。根据参考轨迹、所在区域地图和障碍物信息,对禁止绕行条件的判断确定绕行决策;根据障碍物确定绕行方向,提升绕行决策合理性。减少绕行轨迹规划时间,在保证安全性同时,进一步提升绕行规划的效率。


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    Title :

    Vehicle bypassing method and device, electronic equipment, vehicle and storage medium


    Additional title:

    车辆绕行方法、装置、电子设备、车辆和存储介质


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

    Publication date :

    2023-08-11


    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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