Obstacle avoidance method and device based on automatic driving
A technology for automatic driving and obstacle avoidance, applied in the field of vehicles
Pending Publication Date: 2021-11-16
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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Problems solved by technology
For dynamic obstacles, since their positions change in real time, it is difficult to effectively avoid them during automatic driving. Control the current vehicle to stop to avoid collision with dynamic obstacles
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[0059] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0060] refer tofigure 1 , shows a flow chart of the steps of an automatic driving-based obstacle avoidance method according to an embodiment of the present invention, including the following steps:
[0061] Step 101. In the process of automatic driving, obtain the first path information planned for the current vehicle and the second path information predicted for the dynamic obstacles around the current vehicle;
[0062] Wherein, ...
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The embodiment of the invention provides an obstacle avoidance method and device based on automatic driving, and the method comprises the steps: obtaining first path information planned for a current vehicle, and second path information predicted for dynamic obstacles around the current vehicle in an automatic driving process; determining collision interval information according to the first path information and the second path information; determining target speed control information for the current vehicle according to the collision interval information; and controlling the current vehicle to run by adopting the target speed control information so as to prevent the current vehicle from colliding with the dynamic obstacle. Through the embodiment of the invention, the target speed control information of the vehicle in the automatic driving process is accurately determined, so that the longitudinal decision on the dynamic obstacle can be implemented based on the target speed control information, for example, the dynamic obstacle is exceeded, followed or stopped to avoid collision with the dynamic obstacle.
Description
technical field [0001] The invention relates to the technical field of vehicles, in particular to an automatic driving-based obstacle avoidance method and device. Background technique [0002] With the development of artificial intelligence technology and the continuous progress of the vehicle industry, the automatic driving technology of vehicles is becoming more and more mature. [0003] During the automatic driving process, the vehicle may encounter various static obstacles and dynamic obstacles. Static obstacles can refer to obstacles that always maintain a certain position, such as stone pillars, houses, etc.; dynamic obstacles can refer to obstacles with a certain moving speed. Obstacles, such as pedestrians, other moving vehicles, etc. [0004] For the static obstacle, since its position is fixed, it is only necessary to determine the fixed position of the static obstacle during the automatic driving process, and then avoid it when planning the path of the automatic ...
Claims
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IPC IPC(8): B60W30/095B60W30/09B60W60/00
CPCB60W30/0956B60W30/0953B60W30/09B60W60/0015
Inventor 温勇兵荣岌昆
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD