The invention relates to a method and device for controlling obstacle crossing or obstacle avoidance of a vehicle chassis, a vehicle and a computer readable storage medium. The method comprises the steps of detecting an obstacle on a vehicle driving path, and obtaining feature information of the obstacle; obtaining current driving parameters of the vehicle for correcting inherent passability geometric parameters of the vehicle in a current driving mode so as to obtain current passability geometric parameters of the vehicle; and comparing the obtained current passability geometric parameters ofthe vehicle with the feature information of the obstacle so as to determine whether the vehicle chassis can cross the obstacle or not, and controlling the vehicle to drive so as to cross or avoid theobstacle according to a determining result. The method has the advantages of high practicability and low application cost, and the safety and reliability of vehicle passing can be obviously increased.

    本发明涉及用于控制车辆底盘越障或避障的方法及装置、车辆和计算机可读存储介质。所述方法包括步骤:检测在车辆行驶路径上的障碍物,并获取所述障碍物的特征信息;获取车辆的当前行驶参数用于对车辆在当前行驶模式下所固有的通过性几何参数进行修正,以获得车辆的当前通过性几何参数;将所获得的当前通过性几何参数与所述障碍物的特征信息进行比较,用以判断车辆底盘是否能够越过所述障碍物,并根据判断结果来控制车辆行驶以越过或避开所述障碍物。本发明实用性强、应用成本低,能够显著增强车辆通行的安全性和可靠性。


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    Title :

    Method and device for controlling obstacle crossing or obstacle avoidance of vehicle chassis, vehicle and storage medium


    Additional title:

    控制车辆底盘越障或避障的方法、装置、车辆和存储介质


    Contributors:
    CHEN YUNLONG (author) / LIU GUANDUO (author)

    Publication date :

    2020-12-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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



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