The invention provides an avoidance method and device of an unmanned vehicle, electronic equipment and a storage medium. The method comprises the steps of obtaining road information of a road where the unmanned vehicle is located, first state information of the unmanned vehicle and second state information of at least one obstacle; determining an observation area, and obtaining movement track information of an obstacle in the observation area within a preset first time; when the unmanned vehicle and the obstacle pass through the road in parallel, if the distance between the unmanned vehicle and the obstacle is smaller than a preset safety distance, planning an avoidance local path of the unmanned vehicle through an avoidance cost function model; in the avoidance local path, the preset kinematic model is adopted to obtain the real-time control quantity of the unmanned vehicle so as to avoid the obstacles, the number of the obstacles is reduced, the calculation time for planning the avoidance path is reduced, the response speed of the unmanned vehicle is improved, the time for the unmanned vehicle to avoid the obstacles is reduced, congestion and collision of the unmanned vehicle on the road are avoided, and the safety of the unmanned vehicle is improved. And the traffic efficiency of the road is further improved.
本申请提供了一种无人车的避让方法、装置、电子设备及存储介质,所述方法包括:获取无人车所在道路的道路信息、无人车的第一状态信息以及至少一个障碍物的第二状态信息;确定观测区域,并获取观测区域的障碍物在预设第一时间内的运动轨迹信息;无人车与障碍物并行通过道路时,若无人车与障碍物之间的间距距离小于预设安全距离,通过避让代价函数模型规划无人车的避让局部路径;在避让局部路径中采用预设运动学模型获取无人车的实时控制量,以避让障碍物,减少了障碍物的数量,降低了规划避让路径的计算时间,提高了无人车的响应速度,减少了无人车避让障碍物的时间,避免无人车在道路上造成拥堵和碰撞,进而提高了道路的通行效率。
Unmanned vehicle avoidance method and device, electronic equipment and storage medium
一种无人车的避让方法、装置、电子设备及存储介质
2024-02-20
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 |
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