Patent ID: 11912303
Assignee: SHANGHAI QUICKTRON INTELLIGENT TECHNOLOGY CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 6:
7. A vehicle obstacle-avoidance apparatus, implemented by circuits for implementing functions, comprising:
one or more processors; and
a storage device for storing one or more programs;
wherein the one or more programs are executed by the one or more processors 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 on 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;
wherein the acquiring the center-of-gravity position of the vehicle comprises:
acquiring force data of a plurality of preset force measurement points of the vehicle before the vehicle starts to move and force data of the plurality of preset force measurement points of the vehicle when the vehicle starts to move with an acceleration;
determining the center-of-gravity position, according to the force data of the plurality of preset force measurement points of the vehicle before the vehicle starts to move, the force data of the plurality of preset force measurement points of the vehicle when the vehicle starts to move with the acceleration, and positions of the preset force measurement points.