Obstacle avoidance method and apparatus

An obstacle avoidance apparatus, comprising:

• at least one processor;
• and
• one or more memories coupled to the at least one processor and storing programming instructions for execution by the at least one processor to perform operations comprising:
• 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, wherein each grid in the potential energy grid map corresponds to a piece of potential energy information that represents a probability that the grid is occupied by an obstacle;
• obtaining information about a lane center line of a lane in which the vehicle is currently located;
• obtaining a parallel-line track cluster based on the information about the lane center line, wherein the parallel-line track cluster comprises a plurality of parallel-line tracks, and wherein each of the plurality of parallel-line tracks is parallel to 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, wherein the target track at the moment t specifies a parallel line track that is used by the vehicle to avoid the obstacle.

A non-transitory, computer-readable storage medium storing one or more program instructions executable by at least one processor to perform operations comprising:

• 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, wherein each grid in the potential energy grid map corresponds to a piece of potential energy information that represents a probability that the grid is occupied by an obstacle;
• obtaining information about a lane center line of a lane in which the vehicle is currently located;
• obtaining a parallel-line track cluster based on the information about the lane center line, wherein the parallel-line track cluster comprises a plurality of parallel-line tracks, and wherein each of the plurality of parallel-line tracks is parallel to 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, wherein the target track at the moment t specifies a parallel line track that is used by the vehicle to avoid the obstacle.