Blind zone obstacle emergency avoidance method and device based on vehicle-road cooperation

Abstract

The invention discloses a blind area obstacle emergency avoidance method based on vehicle-infrastructure cooperation, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining blind area position information; whether a blind area exists in front of the vehicle or not is judged based on the blind area position information, if yes, the next step is carried out, and if not, the process is ended; acquiring obstacle information in the corresponding blind area, judging whether an obstacle in a moving state exists or not, if yes, executing the next step, and if not, ending; whether the predicted trajectory of the obstacle in the moving state intersects with the motion trajectory of the vehicle or not is judged, if yes, the vehicle avoids the obstacle, and if not, the vehicle runs normally. According to the automatic driving vehicle, the blind area in front and the obstacles in the blind area can be monitored in advance, compared with an existing scheme, the sensing range is farther, and the safety of automatic driving in the blind area driving scene is improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and device for emergency avoidance of obstacles in a blind spot based on vehicle-road coordination. Background technique [0002] During the driving process of unmanned vehicles, it mainly relies on lidar to detect obstacles. However, the obstacle detection of existing unmanned vehicles can only detect obstacles that appear in the field of view of lidar, and cannot detect obstacles due to obstacles. The situation in the blind zone caused by occlusion. For traffic participants in the perception blind zone who suddenly appear in front of the vehicle's driving track, collision accidents are very likely to occur, especially pedestrians and cyclists are prone to non-compliance with traffic rules and their trajectories change, which greatly increases the risk of collision. Contents of the invention [0003] The technical problem to be solved by the present inventi...

AI Technical Summary

Problems solved by technology

[0002] During the driving process of unmanned vehicles, it mainly relies on lidar to detect obstacles. However, the obstacle detection of existing unmanned vehicles can only detect obstacles that appear in the field of view of lidar, and cannot detect obstacles due to obstacles. Situations in blind spots caused by occlusion

For traffic participants in the perception blind zone who suddenly appear in front of the driving track of the vehicle, collision accidents are very likely to occur, especially pedestrians and cyclists are prone to non-compliance with traffic rules and their trajectories change, which greatly increases the risk of collision

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