The invention relates to an emergency obstacle avoidance method, system and device and a storage medium, and the method comprises the steps: inputting a longitudinal control instruction into an acceleration and deceleration optimization strategy in an execution stage, and obtaining an optimized longitudinal control instruction, the acceleration and deceleration optimization strategy being obtained by learning an optimization target including tracking precision and energy consumption cost; the transverse control instruction is input into a steering optimization strategy, an optimized transverse control instruction is obtained, and the steering optimization strategy is obtained by learning an optimization target including steering precision and stability cost; and controlling the vehicle to perform emergency obstacle avoidance according to the optimized transverse control instruction and longitudinal control instruction. By implementing the emergency obstacle avoidance method provided by the invention, the problem of poor emergency obstacle avoidance effect in the existing obstacle avoidance technology can be improved.

    本申请涉及一种紧急避障方法、系统、设备以及存储介质,其中,紧急避障方法在执行阶段包括:将纵向控制指令输入加减速优化策略,得到优化后的纵向控制指令,其中,加减速优化策略通过学习包括跟踪精度和能耗代价的优化目标得到;将横向控制指令输入转向优化策略,得到优化后的横向控制指令,其中,转向优化策略通过学习包括转向精度和稳定性代价的优化目标得到;按照优化后的横向控制指令和纵向控制指令控制车辆进行紧急避障。通过实施本申请所提供的紧急避障方法,可以改善现有避障技术中存在的紧急避障效果不佳的问题。


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    Title :

    Emergency obstacle avoidance method, system and device and storage medium


    Additional title:

    一种紧急避障方法、系统、设备以及存储介质


    Contributors:
    WANG ZHIGANG (author) / DUAN MEIDI (author) / SUN JIALING (author) / CHEN HUIYU (author) / JIANG ZHE (author)

    Publication date :

    2025-05-13


    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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