Vehicle obstacle avoidance method, vehicle obstacle avoidance device, vehicle obstacle avoidance system and vehicle

Abstract

The embodiment of the invention discloses a vehicle obstacle avoidance method, a vehicle obstacle avoidance device, a vehicle obstacle avoidance system and a vehicle. The vehicle obstacle avoidance method comprises the steps of determining a detour direction of the vehicle according to a preset travel route and obstacle position information of the vehicle; determining a detouring starting point, adetouring turning point and a detouring ending point of the vehicle according to the minimum turning radius of the vehicle, the extension width of the obstacle in the detouring direction, the vehiclebody width of the vehicle, the safety distance between the vehicle and the obstacle and a preset advancing route; and controlling the vehicle to detour between the detour starting point and the detour turning point at a maximum steering angle in the first hour hand direction and detour between the detour turning point and the detour ending point at a maximum steering angle in the second hour handdirection to avoid an obstacle. By the adoption of the vehicle obstacle avoidance method, a short vehicle detouring track can be obtained, the vehicle can detour the obstacle only by steering at themaximum steering angle, it is guaranteed that the vehicle obstacle avoidance method is simple, the steering angle does not need to be adjusted in the advancing process, and the vehicle obstacle avoidance efficiency is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of vehicle obstacle avoidance, in particular to a vehicle obstacle avoidance method, a vehicle obstacle avoidance device, a vehicle obstacle avoidance system and a vehicle. Background technique [0002] Unmanned driving technology is in the ascendant. Safe obstacle avoidance in autonomous driving is an important branch of unmanned driving technology. How to efficiently realize safe obstacle avoidance during driving has been studied in the direction of automobiles and robots, mainly through image recognition. Obstacles ahead, and then change the lane according to the edge of the obstacle, and go around while keeping a safe distance. There is basically no relevant research on construction machinery. [0003] In the process of engineering vehicles driving according to the prescribed path, how to simplify the control action and avoid obstacles with less time cost is an urgent problem to...

AI Technical Summary

Problems solved by technology

[0002] Unmanned driving technology is in the ascendant. Safe obstacle avoidance in autonomous driving is an important branch of unmanned driving technology. How to efficiently realize safe obstacle avoidance during driving has been studied in the direction of automobiles and robots, mainly through image recognition. Obstacles ahead, and then change lanes according to the edge of the obstacle, and go around while keeping a safe distance. There is basically no relevant research on construction machinery

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