The invention relates to a vehicle deviation control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining at least one piece of target obstacle information in at least one direction of the vehicle in an automatic driving mode; obtaining the current driving state of the vehicle, and determining the relative movement trend of each target obstacle and the vehicle in combination with the current driving state and the information of each target obstacle; and generating an optimal offset planning strategy of the vehicle based on the relative motion trend so as to control the vehicle to execute an offset action based on the optimal offset planning strategy. According to the embodiment of the invention, the optimal offset planning strategy of the vehicle can be generated based on the relative movement trend of each target obstacle and the vehicle, so that the vehicle is controlled to avoid obstacles on two sides of a road in advance in the driving process.

    本申请涉及一种车辆的偏移控制方法、装置、车辆及存储介质,其中,方法包括:在自动驾驶模式下,获取车辆至少一个方向的至少一个目标障碍物信息;获取车辆的当前行驶状态,结合当前行驶状态和每个目标障碍物信息,确定每个目标障碍物与车辆的相对运动趋势;基于相对运动趋势生成车辆的最佳偏移规划策略,以控制车辆基于最佳偏移规划策略执行偏移动作。本申请实施例可以基于每个目标障碍物与车辆的相对运动趋势生成车辆的最佳偏移规划策略,以控制车辆在行驶过程中对道路两侧的障碍物进行提前规避。


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    Title :

    Vehicle offset control method and device, vehicle and storage medium


    Additional title:

    车辆的偏移控制方法、装置、车辆及存储介质


    Contributors:
    LIU SHANGFEN (author) / LI ZENGQIANG (author)

    Publication date :

    2023-06-09


    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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