The invention relates to a vehicle obstacle avoidance planning method and device, computer equipment and a storage medium. The method comprises the following steps: firstly, acquiring self-vehicle information and dangerous target information, then determining a collision point based on the self-vehicle information and the dangerous target information, then determining a plurality of obstacle avoidance end points based on the collision point, planning a plurality of initial obstacle avoidance routes based on the self-vehicle information and the plurality of obstacle avoidance end points, and finally, determining the collision point based on the initial obstacle avoidance routes. And determining a cost function of the plurality of initial obstacle avoidance routes, and determining a target obstacle avoidance route based on the cost function. That is to say, when self-vehicle obstacle avoidance planning is carried out, the collision point is determined by combining the dangerous target information, the multiple obstacle avoidance routes capable of avoiding collision are determined based on the collision point, the optimal obstacle avoidance route is determined by combining the cost function, the change condition of the dangerous target is comprehensively considered, and the accuracy and effectiveness of obstacle avoidance route planning are improved.
本申请涉及一种车辆避障规划方法、装置、计算机设备和存储介质。所述方法包括:首先,获取自车信息和危险目标信息,之后,基于所述自车信息和危险目标信息确定碰撞点,之后,基于所述碰撞点确定多个避障终点,基于所述自车信息和多个避障终点规划多个初始避障路线,最后,确定所述多个初始避障路线的代价函数,基于所述代价函数确定目标避障路线。也就是说,在进行自车避障规划时,通过结合危险目标信息确定碰撞点,并基于碰撞点确定多个可以避免碰撞的避障路线,并结合代价函数确定最优的避障路线,综合考虑了危险目标的变化情况,提高了避障路线规划的准确性与有效性。
Vehicle obstacle avoidance planning method and device, computer equipment and storage medium
车辆避障规划方法、装置、计算机设备和存储介质
2024-03-29
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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