Obstacle avoidance control method and device, vehicle and storage medium

A control method and obstacle avoidance technology, applied in vehicle components, transportation and packaging, steering mechanisms, etc., can solve problems such as increasing difficulty in online optimization and solving, increasing complexity of control problems, and difficulty in ensuring real-time solving, etc. The number of constraints, reducing the amount of calculation, and improving the effect of real-time performance

Active Publication Date: 2021-10-29
JINGDONG KUNPENG (JIANGSU) TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005]Dynamic traffic scene makes the non-linear degree of the controlled object and the number of constraints of the control problem increase significantly, resulting in an exponential increase in the complexity of the control problem and the difficulty of online optimization solution increase, it is difficult to guarantee the real-time performance of the solution

Method used

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  • Obstacle avoidance control method and device, vehicle and storage medium
  • Obstacle avoidance control method and device, vehicle and storage medium
  • Obstacle avoidance control method and device, vehicle and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] figure 1 It is a flow chart of an obstacle avoidance control method provided by Embodiment 1 of the present invention, and this embodiment of the present invention is applicable to the situation of performing obstacle avoidance control in a dynamic traffic scene. The method can be executed by an obstacle avoidance control device, and the device can be realized by software and / or hardware. Optionally, the obstacle avoidance control device can be configured in a vehicle. Such as figure 1 Said, the method specifically includes the following steps:

[0072] Step 110: Acquiring state information during the current driving process of the vehicle, and determining a trajectory tracking error according to the state information and a reference trajectory.

[0073] Wherein, the state information may include the running trajectory of the current vehicle, and the reference trajectory may be a pre-stored predicted trajectory of the vehicle.

[0074] In the vehicle coordinate syst...

Embodiment 2

[0097] Figure 4 It is a flowchart of an obstacle avoidance control method provided by Embodiment 2 of the present invention, and this embodiment of the present invention is applicable to the situation of performing obstacle avoidance control in a dynamic traffic scene. The embodiments of the present invention are embodied on the basis of the foregoing embodiments, and explanations of terms that are the same as or corresponding to the foregoing embodiments will not be repeated here. see Figure 4 , an obstacle avoidance control method provided by an embodiment of the present invention includes:

[0098] Step 410: Acquiring state information during the current driving process of the vehicle, and determining a trajectory tracking error according to the state information and a reference trajectory.

[0099] In one embodiment, the state information includes the running trajectory of the current vehicle, and accordingly, determining the trajectory tracking error according to the ...

Embodiment 3

[0142] Figure 11 It is a schematic structural diagram of an obstacle avoidance control device provided by Embodiment 3 of the present invention. The device and the obstacle avoidance control method of the above-mentioned embodiments belong to the same inventive concept. For details not described in detail in the embodiments of the obstacle avoidance control device, reference can be made to the above-mentioned embodiment of the obstacle avoidance control method.

[0143] The specific structure of the obstacle avoidance control device is as follows: Figure 11 shown, including:

[0144] An acquisition module 1110, configured to acquire state information during current vehicle driving, and determine a trajectory tracking error according to the state information and a reference trajectory;

[0145] A determining module 1120, configured to perform obstacle constraints on the current vehicle based on the state information and obstacle information, and determine obstacle penalties...

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Abstract

The embodiment of the invention discloses an obstacle avoidance control method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining the state information of a current vehicle in a driving process, and determining a trajectory tracking error according to the state information and a reference trajectory; carrying out obstacle constraint on the state information and the obstacle position, determining the obstacle punishment of the current vehicle, carrying out stability constraint on the state information, and determining the stability punishment of the current vehicle; constructing a target function according to the state information, the trajectory tracking error, the obstacle penalty and the stability penalty; and determining a front wheel turning angle of the current vehicle based on the minimum value of the tracking item of the target function, and controlling the current vehicle to perform obstacle avoidance according to the front wheel turning angle. According to the technical scheme, the obstacle avoidance scene is accurately described, the constraint of the obstacle on the target function is converted to the target function, the calculated amount of online optimization of the target function is reduced, the optimization problem is rapidly solved, the real-time performance of obstacle avoidance control is improved, and the safety of vehicle driving is further improved.

Description

technical field [0001] Embodiments of the present invention relate to vehicle control technology, and in particular to an obstacle avoidance control method, device, vehicle and storage medium. Background technique [0002] The intelligentization of automobiles is an important way to enhance the driving performance of automobiles. At present, the emergency braking system of a car can be applied to medium and low speed driving conditions, which can reduce the rear-end collision accident rate by about 40%. However, the emergency braking system generally only senses the obstacles in front of the current vehicle, and is limited to rear-end collision avoidance in the longitudinal dimension control. When the vehicle speed is high, steering obstacle avoidance is more effective than braking obstacle avoidance. With the vigorous development of autonomous driving technology, the performance of vehicle-mounted environmental sensors is improving day by day. Cars with autonomous driving...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/09B62D15/02
CPCB60W30/09B62D15/0265B60W2552/50
Inventor 徐鑫
Owner JINGDONG KUNPENG (JIANGSU) TECH CO LTD
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