The invention discloses an obstacle avoidance method, device and equipment for a vehicle and a medium, and relates to the technical field of vehicle obstacle avoidance, and the method comprises the steps: obtaining a detection frame of a target obstacle, the size information of the detection frame, and the driving direction of the vehicle; wherein the target obstacle is an obstacle detected by the vehicle in real time; according to the size information of the detection frame, determining the pixel center point coordinate position of the target obstacle, and constructing a depth sampling area; performing obstacle depth expansion sampling on the depth image based on the center of the depth sampling area to obtain at least one obstacle sampling depth; determining the relative distance between the target obstacle and the vehicle according to the sampling depth of each obstacle; according to the horizontal position, the relative distance, the vehicle driving direction, the set distance threshold value and the set monitoring angle, a target obstacle avoidance instruction needing to be executed by the vehicle is determined. According to the invention, the distance between the obstacle and the vehicle is identified, automatic obstacle avoidance of the vehicle is further realized, and the driving safety of the vehicle is improved.

    本发明公开了一种车辆的避障方法、装置、设备及介质,涉及车辆避障技术领域,该方法包括:获取目标障碍物的检测框、检测框的尺寸信息和车辆行驶方向;其中,目标障碍物是车辆实时检测得到的障碍物;根据检测框的尺寸信息,确定目标障碍物的像素中心点坐标位置,并构建深度采样区域;基于深度采样区域的中心对深度图像进行障碍物深度的扩充采样,得到至少一个障碍物采样深度;根据各障碍物采样深度,确定目标障碍物与车辆之间的相对距离;根据水平位置、相对距离、车辆行驶方向、设定距离阈值和设定监测角度,确定车辆需执行的目标避障指令。本发明实现了障碍物与车辆之间的距离识别,进而实现了车辆的自动避障,提高了车辆行驶的安全性。


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    Title :

    Obstacle avoidance method, device and equipment for vehicle and medium


    Additional title:

    一种车辆的避障方法、装置、设备及介质


    Contributors:
    CHEN KUIFAN (author) / WANG RUI (author) / ZHU HAO (author)

    Publication date :

    2025-03-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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