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

Abstract

The embodiment of the present 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 includes determining the detour direction of the vehicle according to the vehicle's preset travel route and obstacle position information; The minimum turning radius of the vehicle, the extension width of the obstacle in the direction of detour, the body width of the vehicle, the safety distance between the vehicle and the obstacle, and the preset travel route determine the starting point, turning point and end point of the detour of the vehicle ;Control the vehicle to detour along the first clockwise direction with the maximum steering angle between the detour starting point and detour turning point, and detour along the second clockwise direction between the detour turning point and detour end point at the maximum steering angle to avoid obstacles things. Using the above vehicle obstacle avoidance method can obtain a shorter vehicle detour trajectory, and the vehicle can avoid obstacles only by turning at the maximum steering angle, ensuring that the vehicle obstacle avoidance method is simple, and there is no need to adjust the steering angle during travel, improving Vehicle obstacle avoidance efficiency.

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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