Obstacle avoidance control method and device, vehicle and storage medium

Abstract

The embodiment of the invention discloses an obstacle avoidance control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the state information of a current vehicle in a driving process, and determining a trajectory tracking error according to the state information and a reference trajectory; carrying out obstacle constraint on the state information and the obstacle position, determining the obstacle punishment of the current vehicle, carrying out stability constraint on the state information, and determining the stability punishment of the current vehicle; constructing a target function according to the state information, the trajectory tracking error, the obstacle penalty and the stability penalty; and determining a front wheel turning angle of the current vehicle based on the minimum value of the tracking item of the target function, and controlling the current vehicle to perform obstacle avoidance according to the front wheel turning angle. According to the technical scheme, the obstacle avoidance scene is accurately described, the constraint of the obstacle on the target function is converted to the target function, the calculated amount of online optimization of the target function is reduced, the optimization problem is rapidly solved, the real-time performance of obstacle avoidance control is improved, and the safety of vehicle driving is further improved.

Description

technical field [0001] Embodiments of the present invention relate to vehicle control technology, and in particular to an obstacle avoidance control method, device, vehicle and storage medium. Background technique [0002] The intelligentization of automobiles is an important way to enhance the driving performance of automobiles. At present, the emergency braking system of a car can be applied to medium and low speed driving conditions, which can reduce the rear-end collision accident rate by about 40%. However, the emergency braking system generally only senses the obstacles in front of the current vehicle, and is limited to rear-end collision avoidance in the longitudinal dimension control. When the vehicle speed is high, steering obstacle avoidance is more effective than braking obstacle avoidance. With the vigorous development of autonomous driving technology, the performance of vehicle-mounted environmental sensors is improving day by day. Cars with autonomous driving...

AI Technical Summary

Problems solved by technology

[0005]Dynamic traffic scene makes the non-linear degree of the controlled object and the number of constraints of the control problem increase significantly, resulting in an exponential increase in the complexity of the control problem and the difficulty of online optimization solution increase, it is difficult to guarantee the real-time performance of the solution

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