The invention relates to a steering obstacle avoidance control method and device, computer equipment and a storage medium, the method comprises the steps that vehicle steering control parameters, vehicle body parameters and obstacle parameters are obtained, the control parameters comprise the wheel turning angle of a vehicle, the vehicle body parameters comprise the axle distance, and the obstacle parameters comprise the wheel turning angle of the vehicle; the obstacle parameters comprise position parameters of obstacles on the turning inner side; according to the control parameters, the vehicle body parameters and the obstacle parameters, whether scratching occurs or not is determined; executing an obstacle avoidance instruction under the condition of determining that the scratching can occur, including controlling a steering inner side front wheel to perform single-wheel braking and controlling a steering inner side rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner side front wheel; by the adoption of the method, the problem that in the prior art, the vehicle cannot automatically recognize the steering rubbing risk and avoid obstacles can be solved.
本申请涉及一种转向避障控制方法、装置、计算机设备和存储介质,所述方法包括获取车辆转向的控制参数、车身参数和障碍物参数,其中,所述控制参数包括车辆的车轮转角,所述车身参数包括轴距,所述障碍物参数包括转向内侧障碍物的位置参数;根据所述控制参数、车身参数和障碍物参数,确定剐蹭是否会发生;在确定剐蹭会发生的情况下,执行避障指令,包括控制转向内侧前轮进行单轮制动、转向内侧后轮进行间歇性制动,以使得车辆绕转向内侧前轮转动;采用本申请方法,可以改善现有技术中车辆无法自动识别转向剐蹭风险并进行避障的问题。
Steering obstacle avoidance control method and device, computer equipment and storage medium
一种转向避障控制方法、装置、计算机设备和存储介质
2025-03-11
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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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