US 11,654,899 B2
Method and apparatus for avoidance control of vehicle, electronic device and storage medium
Fan Yang, Beijing (CN); Fan Zhu, Beijing (CN); Leibing Lv, Beijing (CN); and Lin Ma, Beijing (CN)
Assigned to Apollo Intelligent Driving Technology (Beijing) Co., Ltd., Beijing (CN)
Filed by Baidu Online Network Technology (Beijing) Co., Ltd., Beijing (CN)
Filed on Jun. 30, 2020, as Appl. No. 16/916,201.
Claims priority of application No. 201910586468.6 (CN), filed on Jul. 1, 2019.
Prior Publication US 2021/0001839 A1, Jan. 7, 2021
Prior Publication US 2022/0371581 A9, Nov. 24, 2022
Int. Cl. B60W 30/09 (2012.01); B60W 30/18 (2012.01); B60W 60/00 (2020.01); G05D 1/02 (2020.01); G08G 1/01 (2006.01); G08G 1/16 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 30/18163 (2013.01); G08G 1/166 (2013.01); G08G 1/167 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining behavior information of a moving obstacle, wherein the moving obstacle is located in a direction of movement of the vehicle, and a distance between the moving obstacle and the vehicle satisfies a preset avoidance distance;
determining an avoidance strategy for the vehicle based on the behavior information of the moving obstacle;
controlling movement of the vehicle based on the avoidance strategy; and
sending the avoidance strategy for the vehicle to the moving obstacle;
wherein the sending the avoidance strategy for the vehicle to the moving obstacle comprises, when the moving obstacle is a pedestrian, sending the avoidance strategy for the vehicle to a terminal device of the pedestrian, so that the pedestrian learns the avoidance strategy for the vehicle from the terminal device.