Abstract: 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.

Abstract: 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.