The invention discloses an obstacle avoidance method and device based on narrow road passing, a storage medium and a vehicle, and the method comprises the steps: starting a narrow road passing function according to a preset triggering event, and obtaining the attribute of an obstacle based on image recognition data; selecting target position sensor data in the multiple pieces of position sensor data according to the attribute of the obstacle to correct the position of the obstacle in a self-vehicle coordinate system, and planning a driving path according to the position of the obstacle in the self-vehicle coordinate system and a safe distance corresponding to the obstacle; and controlling the vehicle to avoid the obstacle according to the driving path. According to the invention, the driving path is planned according to the safe distance of different obstacles, so that the vehicle can pass safely to the maximum extent, and the requirement of narrow-road passing automation is met.

    本发明公开了基于窄路穿行的障碍物避让方法、装置、存储介质及车辆,其方法包括根据预设触发事件启动窄路穿行功能,并基于图像识别数据获取障碍物属性;根据所述障碍物属性选用多个位置传感器数据中的目标位置传感器数据校正障碍物在自车坐标系下的位置,并根据障碍物在自车坐标系下的位置及所述障碍物对应的安全距离规划行车路径;根据所述行车路径控制车辆避让所述障碍物。本发明根据不同障碍物的安全距离规划行驶路径可以使得车辆最大化安全通行,满足了窄路穿行自动化的需求。


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    Title :

    Obstacle avoidance method and device based on narrow road passing, storage medium and vehicle


    Additional title:

    基于窄路穿行的障碍物避让方法、装置、存储介质及车辆


    Contributors:
    LIAN GUIYOU (author) / HE JINPENG (author) / WANG LIANG (author) / FU SHOUCAI (author) / YUAN YIYUE (author)

    Publication date :

    2024-11-22


    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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