The present disclosure provides a method and system for obstacle-avoidance in a self-driving, a system, and a storage medium, comprises: obtaining information of the obstacles, the information including sets of coordinates of the obstacles; determining a feasible area according to the information; determining a waypoint according to the feasible area, and determining an attractive force of the waypoint according to the waypoint and a preset attractive potential field function; determining a repulsive force of the obstacles according to the coordinates of the obstacles on sides of the feasible area and a preset repulsive potential field function; and determining a total force according to the attractive force and the repulsive force, and a steering command issued accordingly. A defect of Artificial Potential Field deflecting into the local minimum, and problems of environmental constraints and the constraints of the vehicle itself in a structured urban environment are resolved.


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    Title :

    Method for obstacle-avoidance in self-driving, system, and storage medium


    Contributors:
    XIU CAIJING (author) / LIANG WEIQIANG (author) / GUO JISHUN (author)

    Publication date :

    2025-04-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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