Obstacle avoidance function design method considering self-adaptive self-vehicle safety radius and adjustment coefficient of different obstacle vehicles

The invention discloses a self-adaptive self-vehicle safety radius and adjustment coefficient obstacle avoidance function design method considering different obstacle vehicles, and the method comprises the steps: adjusting the self-vehicle safety radius through considering the types of different obstacle vehicles, and adaptively updating the adjustment coefficient of an obstacle avoidance function. And the completed obstacle avoidance performance function is submitted to a path planner based on a point quality model. The method has the advantage that safe and effective obstacle avoidance path planning is realized. 本发明公开一种考虑不同障碍车的自适应自车安全半径与调整系数的避障函数设计方法，通过考虑不同障碍车的类型，调整自车安全半径，并自适应更新避障功能函数的调整系数，将完成的避障功能函数交给基于点质量模型的路径规划器。本发明的优点是实现安全有效的避障路径规划。