The invention provides an automatic driving obstacle avoidance method and device, a storage medium and a vehicle, and the method comprises the steps: carrying out the motion projection prediction of a previous vehicle when the previous vehicle of a main vehicle is detected to enter and exit a park after backing up, and obtaining a motion projection region; determining a bypassing width; and comparing the detouring width with a passing threshold value corresponding to the main vehicle. When the bypass width is smaller than a passing threshold value corresponding to the main vehicle, a first safety distance is determined so as to determine the position of an end line, then the main vehicle is controlled to stop in front of the position of the end line, the distance between the previous vehicle and the main vehicle is detected in real time, and when the bypass width is smaller than the first safety distance, the main vehicle is controlled to conduct retreating operation. The position of the termination line is determined through the motion projection area of the previous vehicle, and the distance between the previous vehicle and the main vehicle is detected in real time, so that the response flexibility of the automatic driving system in the scene can be improved, and the intelligent level of the automatic driving vehicle in the scene that the previous vehicle backs up to enter and exit a park is improved.
本申请提供的一种自动驾驶避障方法、装置、存储介质及车辆,方法包括:当检测到主车的前一辆车在倒车出入园区时,对前一辆车进行运动投影预测,得到运动投影区域。确定绕行宽度;将绕行宽度与主车对应的通行阈值进行比较。当绕行宽度小于主车对应的通行阈值时,确定第一安全距离,以确定终止线位置,进而控制主车停止在所述终止线位置之前,并实时检测前一辆车与所述主车之间的距离,当小于第一安全距离时,控制主车进行后退操作。通过前一辆车的运动投影区域,确定终止线位置,并且实时检测前一辆车与主车之间的距离,如此,能够提高自动驾驶系统在此场景下的应对灵活性,从而提高自动驾驶车辆在前车进行倒车进出园区场景下的智能化水平。
Automatic driving obstacle avoidance method and device, storage medium and vehicle
自动驾驶避障方法、装置、存储介质及车辆
2024-05-14
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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