Method and device for controlling vehicle

A vehicle and vehicle driving technology, which is applied in the computer field, can solve problems such as obstacle movement trajectory and movement speed deviation, affecting the normal driving of self-driving vehicles, etc., to achieve the effects of reducing center point fluctuations, improving safety, and accurate moving speed

Active Publication Date: 2020-01-07
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The fluctuation of the center point of the obstacle will lead to the deviation of the predicted trajectory and speed of the obstacle
These deviations can sometimes affect the normal operation of self-driving vehicles

Method used

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  • Method and device for controlling vehicle
  • Method and device for controlling vehicle
  • Method and device for controlling vehicle

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Embodiment Construction

[0024] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0025] It should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and embodiments.

[0026] figure 1 An exemplary system architecture 100 to which the method for controlling a vehicle or the apparatus for controlling a vehicle of an embodiment of the present disclosure can be applied is shown.

[0027] like figure 1 As shown, system architecture 100 m...

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Abstract

The embodiment of the invention discloses a method and device for controlling a vehicle. According to the specific embodiment, the method comprises the following steps of determining center points ofat least two frames of point cloud acquired for an identified obstacle in a vehicle driving process; carrying out curve fitting based on the determined at least two center points to obtain a fitting curve; based on the fitting curve, determining the moving speed of the obstacle; according to the moving speed of the obstacle, the driving speed of a vehicle and the distance between the obstacle andthe vehicle, predicting whether the vehicle can collide with the obstacle or not if continuing driving at current speed; and sending control information to the vehicle in response to the prediction that the vehicle can collide with the obstacle if continuing driving at the current speed, wherein the control information is used for controlling the vehicle to avoid collision with the obstacle. According to the embodiment, the influence of the shape change of the obstacle on the normal driving of an automatic driving vehicle is reduced, and the driving safety of the vehicle is improved.

Description

technical field [0001] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a method and device for controlling a vehicle. Background technique [0002] In the application scenario of automatic driving, lidar can be used to perceive obstacles on the road. When detecting and identifying obstacles based on the point cloud acquired by lidar, the center point of the point cloud is usually used as the center point of the obstacle, so as to analyze the trajectory and speed of the obstacle. In practical applications, since the posture of soft obstacles such as pedestrians and animals will change during the movement process, such as sideways, turning around, and large swings of limbs, etc., the center point of the point cloud corresponding to such soft obstacles will change with time. Small fluctuations occur with changes in attitude. The fluctuation of the center point of the obstacle will lead to the deviation of the predicte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/095B60W30/08
CPCB60W30/095B60W30/08B60W60/00272B60W30/09B60W30/0956B60W2554/4042B60W2420/52G01S17/931B60W60/0016B60W2554/80
Inventor 高斌刘祥张双朱晓星杨凡
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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