The invention discloses an obstacle avoidance method and device for an automobile, a storage medium and computer equipment, which are applied to an automatic driving system of the automobile. The method comprises the steps that when it is detected that an automobile enters an obstacle avoidance state, whether a dynamic obstacle exists in a danger identification area on a lane adjacent to a traveling lane where the automobile is located or not is determined; when it is detected that the dynamic obstacle exists in the danger identification area, whether the vertical distance between the dynamic obstacle and the driving route of the automobile meets a preset lane changing condition or not is judged; when the vertical distance does not meet the preset lane changing condition, the automobile is controlled to stop advancing; and when the dynamic obstacle overpasses the automobile through the adjacent lane, the automobile is controlled to avoid the obstacle through the adjacent lane. According to the method, when the automobile automatic driving system enters the obstacle avoidance scene, the dynamic obstacle condition in a certain range on the adjacent lanes on the side is comprehensively analyzed, whether the adjacent lanes have the bypassing obstacle avoidance condition or not is judged, parking and waiting are carried out when the adjacent lanes do not have the bypassing obstacle avoidance condition, and the safety of automatic driving is improved.

    本发明公开了一种汽车的避障方法、装置、存储介质及计算机设备,应用于汽车的自动驾驶系统。其中方法包括:在检测到汽车进入到避障状态时,确定汽车所在的行进车道的相邻车道上的危险识别区域内是否存在动态障碍物;在检测到危险识别区域内存在动态障碍物时,判断动态障碍物与汽车的行车路线间的垂直距离是否满足预设变道条件;在垂直距离不满足预设变道条件时,控制汽车停止行进;在动态障碍物经相邻车道超越汽车时,控制汽车经相邻车道进行避障。上述方法在汽车自动驾驶系统进入避障场景时,综合分析侧方相邻车道上一定范围内的动态障碍物情况,判断相邻车道是否有绕行避障条件,在相邻车道无绕行避障条件时停车等待,提高了自动驾驶的安全性。


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    Title :

    Automobile obstacle avoidance method and device, storage medium and computer equipment


    Additional title:

    汽车的避障方法、装置、存储介质及计算机设备


    Contributors:
    ZHANG ZHIQING (author) / CHEN DULIAN (author) / LIU MINGCHUN (author) / LI CHUN (author) / ZHANG FEI (author) / ZHAO ZHOU (author)

    Publication date :

    2024-08-16


    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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