	US 12,228,934 B2
	Collision avoidance method and apparatus for moving device, and computer-readable storage medium
Yuhao Liu, Shanghai (CN); Meihua Zhang, Shanghai (CN); and Shiteng Wang, Shanghai (CN)
Assigned to Keenon Robotics Co., Ltd., Shanghai (CN)
Filed by Keenon Robotics Co., Ltd., Shanghai (CN)
Filed on Jun. 24, 2022, as Appl. No. 17/848,662.
Application 17/848,662 is a continuation of application No. PCT/CN2021/137415, filed on Dec. 13, 2021.
Claims priority of application No. 202110231016.3 (CN), filed on Mar. 2, 2021.
Prior Publication US 2022/0326712 A1, Oct. 13, 2022
Int. Cl. G05D 1/00 (2024.01)

CPC G05D 1/0214 (2013.01)

18 Claims

1. A collision avoidance method for a moving device, comprising:

determining a target path direction of a moving device, wherein the target path direction is a direction of a navigation path to be used after the moving device is parked in an avoidance area;

determining a first candidate parking direction and a second candidate parking direction;

determining, based on the target path direction, a target parking direction of the moving device from the first candidate parking direction and the second candidate parking direction; and

controlling, based on the target parking direction, the moving device to be parked in the avoidance area,

wherein the determining, based on the target path direction, a target parking direction of the moving device from the first candidate parking direction and the second candidate parking direction comprises:

determining a first direction angle and a second direction angle, wherein the first direction angle is an angle between the first candidate parking direction and the target path direction, and the second direction angle is an angle between the second candidate parking direction and the target path direction; and

determining, based on the first direction angle and the second direction angle, the target parking direction from the first candidate parking direction and the second candidate parking direction,

wherein the determining, based on the first direction angle and the second direction angle, the target parking direction from the first candidate parking direction and the second candidate parking direction comprises:

when the first direction angle is less than the second direction angle, determining that the first candidate parking direction is the target parking direction;

when the first direction angle is greater than the second direction angle, determining that the second candidate parking direction is the target parking direction; and

when the first direction angle is equal to the second direction angle, determining that the first candidate parking direction or the second candidate parking direction is the target parking direction.