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Method and device for controlling a vehicle

A vehicle and vehicle driving technology, applied in the computer field, can solve problems affecting the normal driving of autonomous vehicles, obstacle movement trajectory and movement speed deviation, etc., to reduce center point fluctuations, reduce the impact of normal driving, and improve safety. sexual effect

Active Publication Date: 2021-08-31
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • 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 a vehicle
  • Method and device for controlling a vehicle
  • Method and device for controlling a 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] Such as figure 1 As shown, system architecture 10...

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Abstract

Embodiments of the present disclosure disclose methods and apparatuses for controlling a vehicle. A specific implementation of the method includes: determining the center point of the point cloud in at least two frames of point clouds collected for the identified obstacle during vehicle driving; performing curve fitting based on the determined at least two center points, to obtain Fitting curve; based on the fitting curve, determine the moving speed of the obstacle; according to the moving speed of the obstacle, the driving speed of the vehicle, and the distance between the obstacle and the vehicle, predict whether the vehicle will collide with the obstacle if it continues to drive at the current speed ; In response to predicting that the vehicle will collide with an obstacle if it continues to drive at the current speed, sending control information to the vehicle, wherein the control information is used to control the vehicle to avoid collision with the obstacle. This embodiment reduces the influence of the change of the shape of the obstacle on the normal driving of the self-driving vehicle, and improves the driving safety of the vehicle.

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 Patents(China)
IPC IPC(8): B60W30/095B60W30/08B60W60/00
CPCB60W30/095B60W30/08B60W60/00272B60W30/09B60W30/0956B60W2554/4042G01S17/931B60W2420/408B60W60/0016B60W2554/80
Inventor 高斌刘祥张双朱晓星杨凡
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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