Vehicle obstacle-avoidance method, apparatus and vehicle

A vehicle obstacle-avoidance apparatus, comprising:

• a first information acquisition module configured for acquiring obstacle information, in a case that an obstacle is detected;
• a straight-going obstacle determining module configured for determining whether the obstacle is a straight-going obstacle in a planned route, according to the planned route and the obstacle information;
• a second information acquisition module configured for acquiring a center-of-gravity position of a vehicle, a safe stopping distance and a vehicle current speed, in a case that the obstacle is determined as the straight-going obstacle on the planned route;
• a maximum acceleration determining module configured for determining a maximum acceleration of the vehicle, according to the center-of-gravity position;
• and
• a straight-going obstacle-avoidance strategy determining module configured for determining a straight-going obstacle-avoidance strategy, according to the obstacle information, the maximum acceleration, the safe stopping distance and the vehicle current speed.

A computer readable storage medium storing a computer program, wherein the program is executed by a processor to perform operations of:

• acquiring obstacle information, in a case that an obstacle is detected;
• determining whether the obstacle is a straight-going obstacle in a planned route, according to the planned route and the obstacle information;
• acquiring a center-of-gravity position of a vehicle, a safe stopping distance and a vehicle current speed, in a case that the obstacle is determined as the straight-going obstacle in the planned route;
• determining a maximum acceleration of the vehicle, according to the center-of-gravity position;
• and
• determining a straight-going obstacle-avoidance strategy, according to the obstacle information, the maximum acceleration, the safe stopping distance and the vehicle current speed.