The invention discloses an automatic driving obstacle avoidance method, a computer readable storage medium, a controller and a vehicle, and the method comprises the steps: obtaining multi-modal data collected by a multi-modal sensor, the multi-modal data at least comprising a camera image, laser radar data and millimeter wave radar data; the method comprises the following steps: performing obstacle detection on a camera image by using a pre-trained target detection model, performing clustering operation on laser radar data, and performing feature extraction on millimeter wave radar data to obtain an obstacle prediction set, a clustering set and a feature extraction set; determining initial obstacle information according to the obstacle prediction set and the clustering set, and determining target obstacle information according to the initial obstacle information and the feature extraction set; and making an obstacle avoidance decision according to the target obstacle information and the current state of the vehicle, and controlling the vehicle to perform obstacle avoidance driving according to the obstacle avoidance decision. The method has the advantages of accurate obstacle detection and reliable obstacle avoidance.

    本发明公开了一种自动驾驶避障方法及计算机可读存储介质、控制器、车辆,该方法包括:获取多模态传感器采集的多模态数据,其中,多模态数据至少包括摄像头图像、激光雷达数据和毫米波雷达数据;利用预先训练好的目标检测模型对摄像头图像进行障碍物检测的同时,对激光雷达数据进行聚类操作,以及对毫米波雷达数据进行特征提取,得到障碍物预测集合、聚类集合和特征提取集合;根据障碍物预测集合和聚类集合确定初始障碍物信息,根据初始障碍物信息和特征提取集合确定目标障碍物信息;根据目标障碍物信息和车辆的当前状态制定避障决策,并控制车辆根据避障决策进行避障行驶。该方法具有障碍物检测精准,避障可靠的优点。


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    Titel :

    Automatic driving obstacle avoidance method, computer readable storage medium, controller and vehicle


    Weitere Titelangaben:

    自动驾驶避障方法及计算机可读存储介质、控制器、车辆


    Beteiligte:
    WANG YINGYING (Autor:in) / YANG DONG (Autor:in) / JIN BIAO (Autor:in)

    Erscheinungsdatum :

    23.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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