{
  "$type": "site.standard.document",
  "description": "The present disclosure provides a method and system for obstacle-avoidance in a self-driving, a system, and a storage medium, comprises: obtaining information of the obstacles, the information including sets of coordinates of the obstacles; determining a feasible area according to the information…",
  "path": "/patents/1351619",
  "publishedAt": "2023-09-28T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/0015",
    "GUANGZHOU AUTOMOBILE GROUP CO., LTD."
  ],
  "textContent": "The present disclosure provides a method and system for obstacle-avoidance in a self-driving, a system, and a storage medium, comprises: obtaining information of the obstacles, the information including sets of coordinates of the obstacles; determining a feasible area according to the information; determining a waypoint according to the feasible area, and determining an attractive force of the waypoint according to the waypoint and a preset attractive potential field function; determining a repulsive force of the obstacles 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, and a steering command issued accordingly. A defect of Artificial Potential Field deflecting into the local minimum, and problems of environmental constraints and the constraints of the vehicle itself in a structured urban environment are resolved.",
  "title": "METHOD FOR OBSTACLE-AVOIDANCE IN SELF-DRIVING, SYSTEM, AND STORAGE MEDIUM"
}