The invention discloses a vehicle obstacle avoidance method and device and electronic equipment, and the method comprises the steps: determining the position information of all obstacles around when a vehicle turns, determining the position information of an instantaneous turning center of the vehicle according to a vehicle course angle, and determining a first distance and a first included angle between each obstacle and the instantaneous turning center, determining a second distance and a second included angle between each angular point and the instantaneous turning center, determining the nearest distance and the farthest distance from the instantaneous turning center on the longitudinal axis of the vehicle, and determining candidate obstacles needing to avoid obstacles based on the first distance, the second distance, the nearest distance and the farthest distance, and a target obstacle needing to be avoided is determined from the candidate obstacles, and the vehicle is controlled to perform obstacle avoidance processing on the target obstacle. Through the technical scheme of the embodiment of the invention, obstacle positioning and obstacle avoidance during vehicle driving are realized, and the traffic capacity of the vehicle in the passable area and the obstacle avoidance capacity of the vehicle in the obstacle avoidance scene are enhanced.

    本发明公开了一种车辆避障方法、装置及电子设备,该方法包括:确定车辆转弯时周围的各个障碍物位置信息,根据车辆航向角确定车辆的瞬时转弯中心位置信息,确定每个障碍物与瞬时转弯中心之间的第一距离和第一夹角,确定每个角点与瞬时转弯中心之间的第二距离和第二夹角,确定在车辆纵向轴上距离瞬时转弯中心的最近距离和最远距离,基于第一距离、第二距离、最近距离和最远距离,确定需要避障的候选障碍物,从各个候选障碍物中确定需要避障的目标障碍物,并控制车辆对所述目标障碍物进行避障处理。通过本发明实施例的技术方案,实现车辆行驶的障碍物定位与避障,增强车辆在可通行区域的通行能力和绕障场景的绕障能力。


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    Title :

    Vehicle obstacle avoidance method and device and electronic equipment


    Additional title:

    一种车辆避障方法、装置及电子设备


    Contributors:
    WU GANGGANG (author) / DU JIANYU (author) / WANG HENGKAI (author) / LI CHAO (author) / CAO TIANSHU (author) / LI JIAJUN (author) / JIANG HUI (author) / SONG XINLI (author) / ZHAO ZHEN (author) / LIU DINGBO (author)

    Publication date :

    2023-12-08


    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