METHODS AND EQUIPMENT FOR PLANNING OBSTACLE-AVOIDING ROUTES FOR MOBILIZED DEVICES, VEHICLES, CHIPS, AND COMPUTER-READABLE DEVICES

Abstract

The invention relates to a method and apparatus for planning the obstacle-avoiding route of a moving vehicle, chip, and computer-controlled vehicle. The moving vehicle may be an autonomous vehicle, robot, or other autonomous moving device.The planning method includes the following steps: obtaining a distance map; determining the first horizontal ground value field within the near field based on the distance map, where the first horizontal ground value field is the first field created when an obstacle is in a horizontal position on the moving device; the first horizontal ground value field includes the minimum target value point, the ground values ​​on the two horizontal edges of the characteristic monotonicity of the minimum target value point, and the ground value representing the horizontal collision value in the near field caused by the obstacle in a horizontal position within the near field for the moving device; and determining the current obstacle avoidance path based on the first horizontal ground value field. The obstacle avoidance path planning method according to the invention's options allows the moving device to safely and stably avoid obstacles in complex and narrow traffic scenarios.