The invention provides a vehicle obstacle avoidance implementation method and system, a vehicle and a storage medium, and the method comprises the steps: responding to an obstacle avoidance early warning instruction, and calculating the position of a collision point according to the preset center position of the current vehicle and the target longitudinal distance xend of vehicle obstacle avoidance; according to the collision point position and a preset threshold vehicle lateral deviation proportion, obtaining a target lateral distance yend of vehicle obstacle avoidance so as to obtain a target obstacle avoidance starting point; according to the current vehicle speed of the vehicle or the current vehicle speed of the vehicle and the current movement speed of the obstacle, target obstacle avoidance parameters are obtained through calculation, and an obstacle avoidance steering instruction is output only when the current actual obstacle avoidance parameters of the vehicle meet the target obstacle avoidance parameters; in response to an obstacle avoidance steering instruction, longitudinal and lateral sampling are performed accordingly to generate an obstacle avoidance path plan. According to the method, the obstacle avoidance starting point, the path end point and the accurate sampling path under the obstacle avoidance limit condition are accurately calculated by integrating transverse, longitudinal and obstacle constraints, and the obstacle avoidance success rate can be greatly improved.

    本申请提供了一种车辆避障实现方法、系统、车辆及存储介质,所述方法包括:响应于避障预警指令,根据当前车辆预设中心位置和车辆避障的目标纵向距离xend,以计算得碰撞点位置;根据碰撞点位置和预设阈值车辆横向偏移比例,获取车辆避障的目标横向距离yend,以获得目标避障起点;根据车辆当前车速,或者车辆当前车速和障碍物的当前运动速度,计算得到目标避障参数,并且仅在车辆当前实际避障参数满足目标避障参数时,输出避障转向指令;响应于避障转向指令,相应地进行纵向采样和横向采样,以生成避障路径规划。本申请通过综合横纵向以及障碍物约束,精确计算出避障极限情况下的避障起点和路径终点,以及精确的采样路径,能大幅提高了避障成功率。


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    Title :

    Vehicle obstacle avoidance implementation method and system, vehicle and storage medium


    Additional title:

    一种车辆避障实现方法、系统、车辆及存储介质


    Contributors:
    MAO JUNPEI (author) / LIN HAI (author) / ZHANG GONG (author) / BING XUEYAN (author)

    Publication date :

    2023-12-29


    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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