The invention discloses a vehicle emergency obstacle avoidance method, device and equipment and a storage medium, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining a predicted yaw velocity based on a preset linear relation and a current steering wheel rotation angle of a vehicle; according to the current driving parameters and the predicted yaw velocity of the vehicle, obtaining a predicted trajectory of the vehicle; obtaining relative historical coordinates of an obstacle according to the current coordinates of the vehicle, the historical track of the vehicle, the historical track of the obstacle and the current coordinates of the obstacle, and obtaining a predicted track of the obstacle according to the relative historical coordinates of the obstacle; vehicle emergency obstacle avoidance is carried out based on the vehicle prediction trajectory and the obstacle prediction trajectory; according to the method, the predicted driving path of the vehicle and the expected moving route of the surrounding obstacles are obtained through the vehicle information collected in real time and the information of the surrounding environment, the possible collision is evaluated based on the accurate prediction of future tracks of the vehicle and the obstacles, the effective emergency obstacle avoidance decision is realized, and the driving safety is improved.

    本申请公开了一种车辆紧急避障方法、装置、设备及存储介质,涉及车辆控制技术领域,公开了:基于预设线性关系和自车当前方向盘转角得到预测横摆角速度;根据自车当前驾驶参数和预测横摆角速度得到自车预测轨迹;根据自车当前坐标、自车历史轨迹、障碍物历史轨迹以及障碍物当前坐标得到障碍物相对历史坐标,根据障碍物相对历史坐标得到障碍物预测轨迹;基于自车预测轨迹和障碍物预测轨迹进行车辆紧急避障;通过实时收集的车辆信息及其周围环境的信息得到自车的预测行驶路径与周边障碍物的预期移动路线,基于自车和障碍物的未来轨迹准确预测,对可能的碰撞进行评估,实现有效的紧急避障决策,提高驾驶安全性。


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    Title :

    Vehicle emergency obstacle avoidance method, device and equipment and storage medium


    Additional title:

    车辆紧急避障方法、装置、设备及存储介质


    Contributors:
    WAN SIXI (author) / TU NINGNING (author) / LIU HUIKAI (author) / YUAN MU (author) / HOU MINGYANG (author)

    Publication date :

    2024-10-25


    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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