The invention relates to the technical field of automatic driving, particularly provides a static obstacle avoidance method, intelligent equipment and a computer readable storage medium, and aims to solve the problem of accurately avoiding a static obstacle. In order to achieve the purpose, the method comprises the steps that lane information of a road in a target intersection is obtained according to a first map, and the target intersection is an intersection which is located in front of the intelligent device and closest to the intelligent device; obtaining a road boundary in the environmental perception information and a static obstacle located at the target intersection; acquiring a target lane on the automatic driving path according to the lane information, and acquiring a drivable area according to the target lane and the road boundary; if the collision risk exists between the intelligent device and the static obstacle, the initial driving corridor is adjusted according to the drivable area and the static obstacle, and a safe driving corridor is obtained; the intelligent equipment can avoid the static obstacles when automatically driving according to the safe driving corridor. Based on the above method, the intelligent device can accurately avoid the static obstacle.
本申请涉及自动驾驶技术领域,具体提供一种静态障碍物的避让方法、智能设备及计算机可读存储介质,旨在解决准确避让静态障碍物的问题。为此目的,本申请提供的方法包括根据第一地图获取目标路口内道路的车道信息,目标路口为位于智能设备行驶前方且距离智能设备最近的路口;获取环境感知信息中的道路边界和位于目标路口的静态障碍物;根据车道信息获取位于自动驾驶路径上的目标车道,根据目标车道与道路边界获取可行驶区域;若智能设备与静态障碍物存在碰撞风险,则根据可行驶区域与静态障碍物调整初始行驶走廊,得到安全行驶走廊;智能设备在按照安全行驶走廊自动驾驶时能够避让静态障碍物。基于上述方法能够使智能设备准确地避让静态障碍物。
Static obstacle avoidance method, intelligent equipment and computer readable storage medium
静态障碍物的避让方法、智能设备及计算机可读存储介质
2024-08-16
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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