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Low-speed automatic driving method, device and equipment and storage medium

An automatic driving, low-speed technology, applied in the field of devices, equipment and storage media, and low-speed automatic driving methods, can solve problems such as affecting the driving safety of vehicles and hindering the driving of vehicles.

Active Publication Date: 2021-07-13
DONGFENG LIUZHOU MOTOR
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a low-speed automatic driving method, device, equipment and storage medium, aiming to solve the technical problem that there may be obstacles on the road that affect the normal function and performance of the vehicle, which will hinder the driving of the vehicle and affect the driving safety of the vehicle

Method used

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  • Low-speed automatic driving method, device and equipment and storage medium
  • Low-speed automatic driving method, device and equipment and storage medium
  • Low-speed automatic driving method, device and equipment and storage medium

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no. 1 example

[0101] Based on the first embodiment above, in the low-speed automatic driving method of this embodiment, the obstacle type includes a flat plate type;

[0102] After the step S40, the method further includes:

[0103] Step S401: when the obstacle is a plate-type obstacle, obtain a height set of the plate-type obstacle according to the road condition information, and determine a maximum height in the height set.

[0104] It can be understood that multiple sets of vertical edge points are selected according to a preset selection strategy, a height set is determined based on each set of vertical edge points, and the largest value is selected from the multiple height values ​​in the height set as the maximum height.

[0105] Step S402: When the maximum height is less than a preset height threshold, it is determined that the plate-type obstacle meets the target size requirement.

[0106] It should be noted that the preset height threshold is set according to the actual situation....

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Abstract

The invention discloses a low-speed automatic driving method, device and equipment and a storage medium. The method comprises the following steps of acquiring an initial planning path, and controlling vehicle driving according to the initial planning path, acquiring road condition information on a road ahead according to first scanning equipment mounted on the vehicle, when an obstacle is determined to exist on the front road according to the road condition information, determining an obstacle type corresponding to the obstacle, determining a corresponding target size requirement according to the obstacle type, when the obstacle is determined not to meet the target size requirement according to the road condition information, adjusting the initial planning path according to the road condition information, and acquiring an adjusted planning path, and controlling the vehicle to run according to the adjusted planned path. When the obstacle on the road does not meet the size requirement of the obstacle type, the planning path is adjusted, the obstacle influencing the normal function and performance of the vehicle on the road is identified, the obstacle is avoided, and the obstacle is prevented from hindering the vehicle running and influencing the vehicle running safety.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a low-speed automatic driving method, device, equipment and storage medium. Background technique [0002] In the current autonomous driving scenario, the vehicle perceives the road environment through the on-board perception system, automatically plans the driving route and controls the vehicle to reach the destination. During the driving process of self-driving vehicles, there may be obstacles on the road that affect the normal functions and performance of the vehicle, which will hinder the driving of the vehicle and affect the driving safety of the vehicle. [0003] The above content is only used to assist in understanding the technical solution of the present invention, and does not mean that the above content is admitted as prior art. Contents of the invention [0004] The main purpose of the present invention is to provide a low-speed automatic driving m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/095B60W60/00
CPCB60W30/0956B60W60/0011B60W2552/50
Inventor 石登仁潘晖李云韦巧陈钊
Owner DONGFENG LIUZHOU MOTOR
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