Pedestrian avoiding method and device, vehicle and storage medium

A pedestrian and vehicle technology, applied in the fields of vehicles and storage media, devices, and pedestrian avoidance methods, can solve the problems of vehicle avoidance, vehicles unable to avoid vehicles and pedestrians in time, etc.

Inactive Publication Date: 2020-02-25
CHINA FIRST AUTOMOBILE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The above method can be used to give way to pedestrians, but some pedestrians are about to enter the driving track area or the pedestrian distance recognition is not accurate, the vehicle cannot avoid pedestrians in time or the vehicle and pedestrians scratch, or the pedestrian has moved away from the vehicle but the vehicle appears avoidance problem

Method used

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  • Pedestrian avoiding method and device, vehicle and storage medium
  • Pedestrian avoiding method and device, vehicle and storage medium
  • Pedestrian avoiding method and device, vehicle and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0033] figure 1 It is a flow chart of the pedestrian avoidance method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation where the vehicle avoids pedestrians. The method of the vehicle driving system can be executed by the pedestrian avoidance device, which can be realized by software and / or hardware , the device can be installed on the vehicle.

[0034] Such as figure 1 As shown, the method may specifically include the following steps:

[0035] Step 110: Determine the current safe driving area of ​​the vehicle according to the driving trajectory planned by the vehicle route planning system.

[0036] Among them, the route planning system is a vehicle system used by self-driving vehicles to automatically plan vehicle trajectory and navigation according to the origin and destination. The driving trajectory is the movement trajectory of the vehicle during driving. In the embodiment of the present invention, the driving track plan...

Embodiment 2

[0051] figure 2 It is a flow chart of the pedestrian avoidance method provided by Embodiment 2 of the present invention. On the basis of the foregoing embodiments, this embodiment further optimizes the foregoing pedestrian avoidance method. Correspondingly, such as figure 2 As shown, the method of this embodiment specifically includes:

[0052] Step 201: Determine the current safe driving area of ​​the vehicle according to the driving trajectory planned by the vehicle route planning system.

[0053] Step 202, constructing a grid map with the vehicle as the center, acquiring the area where the pedestrian crossing is located sensed by the position sensor, and projecting the area where the pedestrian crossing is located into the grid map.

[0054] Among them, a raster image refers to an image that has been discretized in both space and brightness. A raster image can be considered as a matrix. Any element in the matrix corresponds to a point in the image, and the correspondin...

Embodiment 3

[0086] image 3 It is a flow chart of the pedestrian avoidance method provided by Embodiment 3 of the present invention. On the basis of the foregoing embodiments, this embodiment further optimizes the foregoing pedestrian avoidance method. Correspondingly, such as image 3 As shown, the method of this embodiment specifically includes:

[0087] Step 301. Determine the current safe driving area of ​​the vehicle according to the driving trajectory planned by the vehicle route planning system.

[0088] Step 302 , when a target pedestrian is detected on the crosswalk in front of the vehicle, determine the motion position attribute of the target pedestrian relative to the safe driving area.

[0089] After the motion location attribute is determined, step 303 to step 305 are performed according to different motion location attributes.

[0090] Step 303, when the attribute of the moving position is within the safe driving area, determine that the result of the intersection is the...

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PUM

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Abstract

The invention discloses a pedestrian avoiding method and device, a vehicle and a storage medium. The method includes the following steps that the current safe running area of the vehicle is determinedaccording to the running track, planned by a vehicle route planning system, of the vehicle; when a target pedestrian is monitored on a pedestrian crossing in front of the running route of the vehicle, the motion position attribute of the target pedestrian relative to the safe running area is determined; according to the motion position attribute, the convergence result of the target pedestrian with the vehicle in the safe running area is predicted; when the convergence result is that the vehicle and the target pedestrian converge, the vehicle is controlled to avoid the target pedestrian. According to the pedestrian avoiding method and device, the vehicle and the storage medium, the problem that the vehicle does not avoid pedestrians or the vehicle scratches the pedestrians under the condition that the pedestrians are about to enter the running track area or pedestrian distance identification is not accurate is solved, so that the effect that the autonomous vehicle can avoid the pedestrians correctly is achieved.

Description

technical field [0001] The embodiments of the present invention relate to the field of automobile design, and in particular to a pedestrian avoidance method, device, vehicle and storage medium. Background technique [0002] With the increasing development of automatic driving functions, more and more companies have launched automatic driving systems for urban road environments. However, judging from the current development, there is still a large gap in the functional perfection of urban road automatic driving systems. [0003] At present, most automatic driving systems can plan the trajectory and identify pedestrians according to the system decision-making requirements, and then judge whether there are pedestrians in the driving area of ​​the trajectory, avoid or wait for pedestrians to pass before driving. [0004] The above method can be used to give way to pedestrians, but some pedestrians are about to enter the driving track area or the pedestrian distance recognition i...

Claims

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Application Information

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IPC IPC(8): B60W30/09G08G1/16B60W30/095
CPCB60W30/09B60W30/0956G08G1/166
Inventor 尚秉旭陈志新王洪峰刘洋陈捷李宇寂许朝文刘立岩
Owner CHINA FIRST AUTOMOBILE
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