US 12,280,801 B2
Method for obstacle-avoidance in self-driving, system, and storage medium
Caijing Xiu, Guangzhou (CN); Weiqiang Liang, Guangzhou (CN); and Jishun Guo, Guangzhou (CN)
Assigned to GUANGZHOU AUTOMOBILE GROUP CO., LTD., Guangzhou (CN)
Appl. No. 18/013,064
Filed by GUANGZHOU AUTOMOBILE GROUP CO., LTD., Guangzhou (CN)
PCT Filed Apr. 25, 2022, PCT No. PCT/CN2022/088877
§ 371(c)(1), (2) Date Dec. 27, 2022,
PCT Pub. No. WO2022/228358, PCT Pub. Date Nov. 3, 2022.
Claims priority of application No. 202110448163.6 (CN), filed on Apr. 25, 2021.
Prior Publication US 2023/0303120 A1, Sep. 28, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01); B60W 40/072 (2012.01); B62D 15/02 (2006.01)
CPC B60W 60/0015 (2020.02) [B60W 30/09 (2013.01); B60W 40/072 (2013.01); B62D 15/021 (2013.01); B60W 2554/4049 (2020.02)] 14 Claims
OG exemplary drawing
 
1. A method for self-driving obstacle avoidance comprising:
obtaining information of obstacles on a road, where the information of the obstacles comprises at least sets of coordinates of the obstacles;
determining a feasible area according to the information of the obstacles;
determining a waypoint according to the feasible area, and determining an attractive force of the waypoint to an instant vehicle according to the waypoint and a preset attractive potential field function;
determining a repulsive force of the obstacles to the instant vehicle 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, generating a steering angle control command according to the total force, and controlling a vehicle actuator to execute the steering angle control command to achieve the obstacle avoidance;
wherein determining the feasible area according to the information of the obstacles, comprises:
determining visual borders of one or more obstacles according to the information of the obstacles, each of the obstacles comprising one or more visual borders;
determining one or more feasible areas according to the visual borders of the one or more obstacles, a point O of a center of a body of the instant vehicle, and a minimum turn radius of the instant vehicle;
obtaining safety factors of the one or more feasible areas according to borders of the one or more feasible areas and a relative position between each of the obstacles and the instant vehicle, and obtaining a deviation between a direction of each of the one or more feasible areas and a current heading of the body of the vehicle and a deviation between the direction of each of the one or more feasible areas and a direction of a corresponding waypoint of the waypoints according to the borders of the one or more feasible areas; and
selecting one feasible area from the one or more feasible areas to output as the feasible area which is optimal according to the safety factors, the deviation between the direction of each of the one or more feasible areas and the current heading of the body of the vehicle, and the deviation between the direction of each of the one or more feasible areas and the direction of the corresponding waypoint.