Title:
障害物回避方法、障害物回避装置、自動運転装置、コンピュータ可読記憶媒体及びプログラム
Document Type and Number:
Japanese Patent JP7255782
Kind Code:
B2
Abstract:
The present invention relates to the field of artificial intelligence, and discloses an obstacle avoidance method in the field of intelligent automobiles. The method includes: obtaining vehicle information, obstacle information, and a drivable area of a vehicle at a moment t; processing the drivable area based on the vehicle information and the obstacle information to obtain a potential energy grid map; obtaining information about a center line of a lane in which the vehicle is currently located, and obtaining a parallel-line track cluster based on the information about the lane center line; calculating a cost value of each parallel-line track in the parallel-line track cluster according to the potential energy grid map; and performing time-domain filtering on a parallel-line track with a minimum cost value in the parallel-line track cluster based on a target track at a moment t-1 to obtain a target track at the moment t, to travel according to the target track at the moment t to avoid an obstacle. The present invention further discloses an avoidance apparatus. According to embodiments of the present invention, when there is an obstacle in front, avoidance inside a lane is performed according to the obtained target track, thereby ensuring safety and smoothness of vehicle driving.
Inventors:
Wang, Chao
One, Shinyu
Yang, Xiaoyu
One, Shinyu
Yang, Xiaoyu
Application Number:
JP2021520334A
Publication Date:
April 11, 2023
Filing Date:
July 28, 2020
Export Citation:
Assignee:
Huawei Technologies Company Limited
International Classes:
B60W30/08; B60W40/02; G08G1/16
Domestic Patent References:
| JP2018197048A | ||||
| JP2018152072A | ||||
| JP2013091443A | ||||
| JP2018185633A |
Foreign References:
| CN110045376A | ||||
| CN107121980A |
Other References:
NUSS, Dominik,Consistent Environmental Modeling by use of Occupancy Grid Maps, Digital Road Maps, and Multi-Object Tracking,2014 IEEE Intelligent Vehicles Symposium Proceedings,米国,IEEE,2014年06月08日,pages 1371-1377
Attorney, Agent or Firm:
Patent Attorney Corporation RYUKA International Patent Office