OBSTACLE AVOIDANCE METHOD AND DEVICE

The present invention relates to the field of artificial intelligence, and discloses an obstacle avoidance method in the field of intelligent automobiles. The method includes: 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; obtaining information about a center line of a lane in which the vehicle is currently located, and obtaining a parallel-line track cluster based on the information about 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, to travel according to the target track at the moment t to avoid an obstacle. The present invention further discloses an avoidance apparatus. According to embodiments of the present invention, when there is an obstacle in front, avoidance inside a lane is performed according to the obtained target track, thereby ensuring safety and smoothness of vehicle driving.