The invention provides an automatic driving vehicle collision avoidance method and device, electronic equipment and a computer readable storage medium. The method comprises the steps that obstacle information around a vehicle is acquired through a sensor; the pose of the vehicle after a preset time interval is calculated on the basis of driving information of the vehicle, whether the vehicle collides with the obstacle or not is judged on the basis of the obstacle information, and the driving information comprises a preset planned path of the vehicle, a control command sequence for controlling driving of the vehicle and the steering and speed of a chassis of the vehicle; one or a combination of a vehicle rear axle center real-time speed, a tangential direction and a distance of movement in the tangential direction, a rate of lateral movement of the vehicle, and a distance of lateral displacement; in response to the occurrence of the collision, collision information is output, and the collision information comprises the distance from the vehicle to the collision position and the pose during the collision; collision avoidance processing is performed based on the collision information.
本申请提供一种自动驾驶车辆避撞的方法、装置、电子设备及计算机可读存储介质,所述方法包括:通过感知器获取车辆周围的障碍物信息;基于车辆的行驶信息计算预设的时间间隔后车辆的位姿,并基于所述障碍物信息判断所述车辆与所述障碍物是否会发生碰撞,其中,所述行驶信息包括所述车辆预设的规划路径,控制车辆行驶的控制命令序列,车辆底盘的转向和速度,车辆后轴中心实时速度、切向方向以及沿切向方向移动的距离,车辆横向移动的速率以及横向位移的距离中的一种或组合;响应于会发生碰撞,输出碰撞信息,碰撞信息包括所述车辆到发生碰撞位置的距离,与发生碰撞时的位姿;基于碰撞信息执行避撞处理。
Collision avoidance method and device for autonomous vehicle
一种自动驾驶车辆避撞的方法及装置
2023-08-11
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 |
European Patent Office | 2023
|European Patent Office | 2021
|European Patent Office | 2021
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