Control method and control device for unmanned driving equipment

Abstract

This specification discloses a control method and control device for an unmanned driving device, the control method for the unmanned driving device comprising: obtaining driving information of the unmanned driving device and driving information of obstacles around the unmanned driving device; for each obstacle, determining the minimum distance between the unmanned driving device and the obstacle during braking based on the driving information of the unmanned driving device and the driving information of the vehicle; determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on the minimum distance between the unmanned driving device and the obstacle during braking, as the braking acceleration range corresponding to the obstacle; determining the braking acceleration of the unmanned driving device based on the braking acceleration range corresponding to each obstacle; and controlling the unmanned driving device to brake based on the braking acceleration.

Description

Technical Field

[0001] This specification relates to the field of unmanned driving, and in particular to a control method and control device for unmanned driving equipment. Background Art

[0002] With the advancement of science, autonomous driving technology has been widely applied in various fields. During the operation of autonomous vehicles, speed planning and path navigation are usually carried out based on positioning navigation and data obtained from the autonomous vehicle's own sensors, thereby achieving autonomous driving. However, during the operation of autonomous vehicles, unexpected situations such as speed planning or path navigation failures are inevitable.

[0003] When faced with unexpected situations such as route planning or navigation failures, the autonomous vehicle will send a request to the system to take over remote control of the vehicle. If it does not receive a response within a short period of time, the autonomous vehicle will typically apply emergency braking to bring it to a stop. However, during this process, the autonomous vehicle may collide with surrounding vehicles after applying emergency braking.

[0004] Therefore, when the speed planning or path navigation of the unmanned driving device fails, how to ensure the safety of the unmanned driving device and surrounding vehicles before braking is an urgent problem to be solved. Summary of the Invention

[0005] This specification provides a control method and a braking device for an unmanned driving device to partially solve the above-mentioned problems existing in the prior art.

[0006] This manual adopts the following technical solutions:

[0007] This specification provides a method for controlling an unmanned driving device, which is applied to perform unmanned delivery services, including:

[0008] Obtaining driving information of the unmanned driving device and driving information of obstacles around the unmanned driving device;

[0009] For each obstacle, determining a minimum distance between the unmanned driving device and the obstacle during braking based on the driving information of the unmanned driving device and the driving information of the obstacle;

[0010] determining, based on a minimum distance between the unmanned driving device and the obstacle during braking, a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle, as the braking acceleration range corresponding to the obstacle;

[0011] The braking acceleration of the unmanned driving device is determined according to the braking acceleration range corresponding to each obstacle, and the unmanned driving device is controlled to brake according to the braking acceleration.

[0012] Optionally, determining the minimum distance between the unmanned driving device and the obstacle during braking based on the driving information of the unmanned driving device and the driving information of the obstacle specifically includes:

[0013] Determining a positional relationship and a driving direction relationship between the unmanned driving device and the obstacle based on the driving information of the unmanned driving device and the driving information of the obstacle;

[0014] The minimum distance between the unmanned driving device and the obstacle during braking is determined based on the position relationship and the driving direction relationship.

[0015] Optionally, the positional relationship between the unmanned driving device and the obstacle includes at least one of: the obstacle is located in a lane to the side of the unmanned driving device, the obstacle is located directly in front of the lane where the unmanned driving device is located, and the obstacle is located directly behind the lane where the unmanned driving device is located;

[0016] The driving direction relationship includes: the obstacle and the unmanned driving device are traveling in the same direction, and the obstacle and the unmanned driving device are traveling in opposite directions.

[0017] Optionally, determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on the minimum distance between the unmanned driving device and the obstacle during braking, as the braking acceleration range corresponding to the obstacle, specifically includes:

[0018] If the obstacle is located in the lane to the side of the unmanned driving device, the time it takes for the obstacle to safely move to the lane where the unmanned driving device is located is determined as the safe lane change time;

[0019] Determining, based on driving information of the unmanned driving device and the obstacle, a minimum distance between the obstacle and the unmanned driving device, including an unsolved term, wherein the unsolved term represents a braking acceleration range corresponding to the obstacle that needs to be solved;

[0020] A braking acceleration range corresponding to the obstacle is determined based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device.

[0021] Optionally, determining the time taken for the obstacle to safely move to the lane where the unmanned driving device is located as the safe lane change time specifically includes:

[0022] Determining a maximum lateral safety distance and a minimum lateral safety distance between the obstacle and the unmanned driving device based on driving information of the unmanned driving device and the obstacle, and a preset maximum lateral acceleration and a preset minimum lateral acceleration of the obstacle;

[0023] determining, based on the maximum lateral safety distance and the minimum lateral safety distance, a lateral safety distance between the obstacle and the unmanned driving device under a specified safety score, wherein a greater safety score indicates a greater lateral safety distance between the obstacle and the unmanned driving device;

[0024] Based on the lateral safety distance and the driving information of the unmanned driving device and the obstacle, the time taken for the obstacle to travel to the lane where the unmanned driving device is located is determined as the safe lane change time.

[0025] Optionally, determining a braking acceleration range corresponding to the obstacle based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device specifically includes:

[0026] If the obstacle is located in front of the unmanned vehicle and in the same direction of travel as the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved item, based on the preset maximum longitudinal acceleration of the unmanned vehicle within the reaction time and the maximum braking acceleration of the obstacle;

[0027] Based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located in front of the unmanned driving device and travels in the same direction as the unmanned driving device is determined.

[0028] Optionally, determining a braking acceleration range corresponding to the obstacle based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device specifically includes:

[0029] If the obstacle is located in front of the unmanned vehicle and is traveling in the opposite direction of the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved item, based on the preset maximum longitudinal acceleration of the unmanned vehicle within the reaction time, the maximum longitudinal acceleration of the obstacle within the reaction time, and the minimum braking acceleration of the obstacle;

[0030] Based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located in front of the unmanned driving device and is traveling in the opposite direction of the unmanned driving device is determined.

[0031] Optionally, determining a braking acceleration range corresponding to the obstacle based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device specifically includes:

[0032] If the obstacle is located to the side and rear of the unmanned vehicle and is traveling in the same direction as the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved term, based on the predetermined maximum longitudinal acceleration of the obstacle within the reaction time and the minimum braking acceleration of the obstacle;

[0033] Based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located to the side and rear of the unmanned driving device and travels in the same direction as the unmanned driving device is determined.

[0034] Optionally, determining a braking acceleration range corresponding to the obstacle based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device specifically includes:

[0035] Based on the current longitudinal distance between the unmanned driving device and the obstacle, determine the longitudinal distance between the unmanned driving device and the obstacle after the unmanned driving device and the obstacle have traveled for the safe lane change time, as the constraint distance;

[0036] The braking acceleration range corresponding to the obstacle is determined based on the constraint condition that the minimum distance between the obstacle and the unmanned driving device does not exceed the constraint distance.

[0037] Optionally, determining the minimum distance between the unmanned driving device and the obstacle when braking based on the position relationship and the driving direction relationship specifically includes:

[0038] If the obstacle is located directly in front of the lane where the unmanned vehicle is located and is traveling in the same direction as the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved term, based on the preset maximum longitudinal acceleration of the unmanned vehicle within the reaction time and the maximum braking acceleration of the obstacle;

[0039] Determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on a minimum distance between the unmanned driving device and the obstacle during braking, specifically including:

[0040] Based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device is determined.

[0041] Optionally, determining the minimum distance between the unmanned driving device and the obstacle when braking based on the position relationship and the driving direction relationship specifically includes:

[0042] If the obstacle is located directly in front of the lane where the unmanned vehicle is located and is traveling in the opposite direction of the unmanned vehicle, determining the minimum distance between the obstacle and the unmanned vehicle, including the unsolved item, based on the preset maximum longitudinal acceleration of the unmanned vehicle within the reaction time, the maximum longitudinal acceleration of the obstacle within the reaction time, and the minimum braking acceleration of the obstacle;

[0043] Determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on a minimum distance between the unmanned driving device and the obstacle during braking, specifically including:

[0044] Based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the opposite direction of the unmanned driving device is determined.

[0045] Optionally, determining the minimum distance between the unmanned driving device and the obstacle when braking based on the position relationship and the driving direction relationship specifically includes:

[0046] If the obstacle is located directly behind the lane where the unmanned vehicle is located and is traveling in the same direction as the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved term, based on the predetermined maximum longitudinal acceleration of the obstacle within the reaction time and the minimum braking acceleration of the obstacle;

[0047] Determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on a minimum distance between the unmanned driving device and the obstacle during braking, specifically including:

[0048] Based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly behind the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device is determined.

[0049] Optionally, determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on a minimum distance between the unmanned driving device and the obstacle during braking specifically includes:

[0050] Determining the current longitudinal distance between the unmanned driving device and the obstacle as a constraint distance;

[0051] The braking acceleration range corresponding to the obstacle is determined based on the constraint condition that the minimum distance between the obstacle and the unmanned driving device does not exceed the constraint distance.

[0052] Optionally, before determining the braking acceleration of the unmanned driving device according to the braking acceleration range corresponding to each obstacle, the method further includes:

[0053] Obtaining traffic information in the driving environment of the unmanned driving device;

[0054] If it is determined based on the traffic information that there is a stop line ahead of the unmanned driving device, determining a braking acceleration range for the unmanned driving device to stop at the stop line;

[0055] Determining the braking acceleration of the unmanned driving device according to the braking acceleration range corresponding to each obstacle specifically includes:

[0056] Based on the braking acceleration range of the unmanned driving device for the traffic information and the braking acceleration range corresponding to each obstacle, the braking acceleration of the unmanned driving device is determined, and the unmanned driving device is controlled to brake according to the braking acceleration.

[0057] This specification provides a control device for an unmanned driving device, which is used to perform unmanned delivery services, including:

[0058] An acquisition module is used to acquire the driving information of the unmanned driving device and the driving information of obstacles around the unmanned driving device;

[0059] A first determination module determines, for each obstacle, a minimum distance between the unmanned driving device and the obstacle during braking based on the driving information of the unmanned driving device and the driving information of the vehicle;

[0060] a second determining module, which determines, based on a minimum distance between the unmanned driving device and the obstacle during braking, a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle, as the braking acceleration range corresponding to the obstacle;

[0061] The braking module determines the braking acceleration of the unmanned driving device according to the braking acceleration range corresponding to each obstacle, and controls the unmanned driving device to brake according to the braking acceleration.

[0062] This specification provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the control method of the unmanned driving device mentioned above.

[0063] This specification provides an unmanned driving device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, a control method for the unmanned driving device is implemented.

[0064] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0065] In the control method of the unmanned driving device provided in this specification, when the unmanned driving device takes braking measures, the braking acceleration for each obstacle and traffic information around the unmanned driving device is determined based on the driving information of the obstacles in front of the unmanned driving device, the obstacles behind the unmanned driving device, and the obstacles on the sides of the unmanned driving device, and the surrounding traffic information, thereby determining the final braking acceleration of the unmanned driving device and controlling the unmanned driving device to brake.

[0066] It can be seen from the above method that when the unmanned driving device faces a departure situation that requires the implementation of braking measures, it will fully consider the driving information and traffic information of the surrounding obstacles, thereby determining the final braking acceleration of the unmanned driving device, and controlling the unmanned driving device to brake according to the final braking acceleration, thereby avoiding the unmanned driving device from colliding with surrounding obstacles during the braking process. That is, braking is achieved while ensuring the driving safety of the unmanned driving device and surrounding vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The exemplary embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation of this specification. In the drawings:

[0068] Figure 1 A flowchart of a control method for an unmanned driving device provided in this specification;

[0069] Figure 2 This is a schematic diagram of an obstacle provided in this manual that is located in front of the unmanned driving device and is traveling in the same direction as the unmanned driving device;

[0070] Figure 3 This is a schematic diagram of an obstacle provided in this manual that is located in front of the unmanned driving device and is moving towards the unmanned driving device;

[0071] Figure 4 This is a schematic diagram of an obstacle provided in this manual that is located at the side and rear of an unmanned driving device and is traveling in the same direction as the unmanned driving device;

[0072] Figure 5 A schematic diagram of a braking device for an unmanned vehicle provided in this specification;

[0073] Figure 6 This manual provides a corresponding Figure 1 Schematic diagram of an unmanned vehicle. DETAILED DESCRIPTION

[0074] To make the objectives, technical solutions, and advantages of this specification more clear, the following will clearly and completely describe the technical solutions of this specification in conjunction with the specific embodiments of this specification and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this specification.

[0075] The technical solutions provided by the embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0076] Figure 1 This is a flow chart of a control method for an unmanned driving device provided in this specification, comprising the following steps:

[0077] S101: Acquire driving information of an unmanned driving device and driving information of obstacles around the unmanned driving device.

[0078] When unmanned driving equipment performs tasks such as logistics distribution, transportation, and cargo transportation, it usually uses its own sensors (such as visual cameras, millimeter-wave radars, ultrasonic radars, lidars, and global positioning systems (GPS)) to obtain information about surrounding obstacles and the driving environment, thereby completing the distribution of driving speed and path navigation. However, it is difficult to ensure that no accidents will occur during the driving of unmanned driving equipment. Once the satellite navigation of the unmanned driving equipment fails, the driving decision cannot be adapted to the current driving environment, and the path planning fails, the unmanned driving equipment will usually send a remote control request to the server. If no control response is received within a short period of time, in order to reduce the driving risk, the unmanned driving equipment will usually take emergency braking measures to reduce the safety hazards caused by the above-mentioned unexpected situations.

[0079] When an unmanned driving device takes emergency braking measures, obstacles around the unmanned driving device (such as moving vehicles) cannot promptly determine that the unmanned driving device is taking emergency braking measures. Therefore, there is a high risk of collision between the obstacles around the unmanned driving device and the unmanned driving device.

[0080] For example, an obstacle traveling in the same direction behind the unmanned driving device fails to slow down in time, causing the obstacle behind to collide with the unmanned driving device; an obstacle traveling in the same direction in front of the unmanned driving device suddenly slows down, causing the unmanned driving device to collide with the obstacle in front; an obstacle traveling in the opposite direction in front of the unmanned driving device fails to slow down in time, causing it to collide with the unmanned driving device; and an obstacle on the side of the unmanned driving device suddenly changes lanes, causing the unmanned driving device to collide with it, etc.

[0081] Based on this, this specification provides a control method for an unmanned vehicle, enabling the unmanned vehicle to select appropriate braking acceleration based on driving information from surrounding obstacles, thereby avoiding the aforementioned accidents. The unmanned vehicle uses its onboard sensors to obtain current driving information from the unmanned vehicle and other obstacles within a preset range. This driving information may include the current lateral speed, longitudinal speed, driving direction, and position coordinates of the unmanned vehicle and surrounding obstacles. The preset range can be set based on actual conditions and is not limited by this specification.

[0082] The control method for an unmanned vehicle provided in this specification can be used to execute appropriate control decisions when operating in different environments. Specifically, the unmanned vehicle can be applied to delivery scenarios using unmanned vehicles, such as express delivery, logistics, and food delivery. The unmanned vehicles referred to in this specification may include: unmanned vehicles, mobile robots, and unmanned logistics delivery vehicles.

[0083] S102: For each obstacle, determine the minimum distance between the unmanned driving device and the obstacle when braking based on the driving information of the unmanned driving device and the driving information of the vehicle.

[0084] In actual applications, unmanned driving equipment can travel longitudinally. Of course, there are also some unmanned driving equipment equipped with special tires (such as universal wheels and omni-directional wheels) that can travel in multiple directions. For the sake of convenience of description, the following only takes the longitudinal travel of the unmanned driving equipment (that is, the minimum longitudinal distance between the obstacle and the unmanned driving equipment is used as the minimum distance between the unmanned driving equipment and the obstacle) as an example to illustrate the control method of the unmanned driving equipment provided in this manual.

[0085] After obtaining the current driving information of the unmanned driving device and other obstacles within a preset range, for each obstacle within the preset range of the unmanned driving device, the unmanned driving device determines the minimum distance between the obstacle and the unmanned driving device, which includes the item to be solved, based on the obstacle and the driving information of the unmanned driving device. As long as the actual distance between the unmanned driving device and the obstacle during driving is not less than the minimum distance including the item to be solved, the unmanned driving device and the obstacle will not collide, and the item to be solved, that is, the braking acceleration range corresponding to the unmanned driving device, can be inferred.

[0086] Specifically, based on the analysis of previous obstacle driving data (such as driving data of manually driven vehicles), the driver's reaction time, the longitudinal acceleration range during driving, and the braking acceleration range when taking braking measures can be determined when driving the vehicle and facing an emergency situation that requires braking measures (such as the sudden stop of the vehicle in front or the sudden appearance of an obstacle in front). The reaction time, maximum braking acceleration, minimum braking acceleration, and maximum acceleration and minimum acceleration during driving of the unmanned driving equipment and the obstacle before braking measures are taken are obtained, and the reaction time, maximum braking acceleration, minimum braking acceleration when braking measures are taken, and maximum acceleration and minimum acceleration during driving are set as fixed parameters in the unmanned driving equipment.

[0087] In order to ensure the driving safety between the unmanned driving equipment and the surrounding obstacles and avoid accidents, in this specification, the above-mentioned data can be applied to both the unmanned driving equipment and the obstacles. That is, the reaction time, maximum acceleration, minimum acceleration, maximum braking acceleration and minimum braking acceleration for the obstacles and the reaction time, maximum acceleration, minimum acceleration, maximum braking acceleration and minimum braking acceleration for the unmanned driving equipment can be the same.

[0088] The entity executing the analysis of past obstacle travel data can be a server or a designated device such as a desktop computer or laptop computer. The device uses designated software to analyze past obstacle travel data and stores the analysis results in the unmanned driving device. Of course, manual analysis of past obstacle travel data can also be performed, with the analysis results stored in the unmanned driving device. For ease of description, this specification uses a server as the example entity executing the analysis of past obstacle travel data to illustrate the analysis of past obstacle travel data.

[0089] In this specification, the unmanned driving device can determine the positional relationship and driving direction relationship between the unmanned driving device and surrounding obstacles based on the driving information of the unmanned driving device and other obstacles within a preset range at the current moment. For example, the positional relationship between the unmanned driving device and surrounding obstacles may include: the obstacle is located directly in front of the lane where the unmanned driving device is located, the obstacle is located directly behind the lane where the unmanned driving device is located, and the obstacle is located in the lane to the side of the unmanned driving device, etc. The driving direction relationship between the unmanned driving device and surrounding obstacles may include: the unmanned driving device and the obstacle are traveling in the same direction and the unmanned driving device and the obstacle are traveling in opposite directions. Furthermore, the unmanned driving device can determine the minimum distance between the unmanned driving device and the obstacle when braking based on the determined positional relationship and driving direction relationship. The following will explain how to determine the minimum distance between the obstacle and the unmanned driving device according to different situations.

[0090] 1. The obstacle is located directly in front of the lane where the unmanned vehicle is located:

[0091] When an obstacle appears in front of the lane where the unmanned driving device is located, if the obstacle is traveling in the same direction as the unmanned driving device (that is, the obstacle and the unmanned driving device are traveling in the same direction), the unmanned driving device can determine the maximum distance that the unmanned driving device can travel within the reaction time based on the obtained longitudinal speed of the unmanned driving device at the current moment, the pre-set reaction time and the maximum longitudinal acceleration of the unmanned driving device within the reaction time.

[0092] The unmanned driving device can determine the maximum braking distance that the unmanned driving device will travel after accelerating within the reaction time and completing braking based on the unmanned driving device's current longitudinal speed, reaction time, maximum longitudinal acceleration within the reaction time, and braking acceleration of the unmanned driving device;

[0093] The unmanned driving device can determine the minimum braking distance that the obstacle must travel after accelerating within the reaction time and completing braking based on the obstacle's current longitudinal speed and the obstacle's maximum braking acceleration.

[0094] The unmanned driving device can determine the minimum distance between the obstacle and the unmanned driving device based on the maximum distance the unmanned driving device can travel within the reaction time, the maximum braking distance the unmanned driving device can travel after accelerating within the reaction time and braking, and the minimum braking distance the obstacle can travel after accelerating within the reaction time and braking. For example, the formula for the minimum distance between the obstacle and the unmanned driving device can be:

[0095]

[0096] Among them, d1lon_min v is the minimum distance between the obstacle and the unmanned driving device when the obstacle is in front of the lane where the unmanned driving device is located and is moving in the same direction as the unmanned driving device. 1,lon is the observed longitudinal velocity of the unmanned vehicle, v 2,lon is the longitudinal velocity of the obstacle observed by the unmanned driving device. Since the obstacle and the unmanned driving device are moving in the same direction, (v 1,lon ≥0), (v 2,lon ≥0), ρ is the reaction time of the unmanned driving equipment before braking, is the maximum longitudinal acceleration of the unmanned driving equipment during the reaction time, a 1av,brake is the braking acceleration corresponding to the obstacle traveling in the same direction directly in front of the unmanned vehicle. The maximum braking acceleration when braking for this obstacle.

[0097] Accordingly, The maximum distance that the unmanned vehicle can travel within the reaction time. The maximum braking distance of the unmanned driving equipment after accelerating within the reaction time. It is the minimum braking distance after the obstacle accelerates within the reaction time and completes braking.

[0098] Since when the obstacle is located directly in front of the unmanned vehicle and traveling in the same direction as the unmanned vehicle, the obstacle cannot observe the driving conditions of the unmanned vehicle behind it, and therefore there is no reaction time for the obstacle to take emergency braking measures when facing the unmanned vehicle, so there is no need to calculate the maximum distance that the obstacle can travel within the reaction time.

[0099] When it is determined that the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device, the minimum distance between the obstacle and the unmanned driving device actually takes into account an extreme case, that is, the unmanned driving device is traveling at the maximum acceleration during the reaction time, and the obstacle in front suddenly brakes at the maximum braking acceleration. However, in actual driving, the braking acceleration of the obstacle in front will definitely not be greater than the maximum braking acceleration, and the longitudinal acceleration of the unmanned driving device during the reaction time will definitely not be greater than the maximum acceleration, so the minimum distance between the unmanned driving device and the obstacle will definitely not be greater than the most conservative minimum distance between the unmanned driving device and the obstacle mentioned above. If the unmanned driving device and the obstacle do not collide in this extreme case, then the unmanned driving device and the obstacle in front will not collide during actual driving, so the maximum longitudinal acceleration of the unmanned driving device is used here. and the maximum braking acceleration of the obstacle Calculate the minimum distance between the obstacle and the unmanned driving device.

[0100] When an obstacle appears in front of the lane where the unmanned driving device is located, if the obstacle is moving in the opposite direction of the unmanned driving device (that is, the obstacle is moving in the opposite direction of the unmanned driving device), the unmanned driving device can determine the maximum distance that the unmanned driving device can travel within the reaction time based on the obtained longitudinal speed of the unmanned driving device at the current moment, the pre-set reaction time, and the maximum longitudinal acceleration of the unmanned driving device within the reaction time.

[0101] The maximum distance that the unmanned driving device can travel after accelerating within the reaction time and completing braking is determined based on the unmanned driving device's current longitudinal speed, reaction time, maximum acceleration within the reaction time, and braking acceleration of the unmanned driving device.

[0102] The maximum distance the obstacle can travel within the reaction time is determined based on the obstacle's current longitudinal speed, reaction time, and the obstacle's maximum longitudinal acceleration within the reaction time.

[0103] The maximum distance the obstacle can travel after accelerating within the reaction time and braking is determined based on the obstacle's current longitudinal speed, reaction time, the obstacle's maximum longitudinal acceleration during the reaction time, and the obstacle's maximum braking acceleration.

[0104] Then, the minimum distance between the obstacle and the unmanned vehicle is determined based on the maximum distance the unmanned vehicle can travel within the reaction time, the maximum distance the unmanned vehicle can travel after accelerating within the reaction time and braking, the maximum distance the obstacle can travel within the reaction time, and the maximum distance the obstacle can travel after accelerating within the reaction time and braking. For example, the formula for the minimum distance between the obstacle and the unmanned vehicle can be:

[0105]

[0106] Among them, d 2lon_min The minimum distance between the obstacle and the unmanned driving device when the obstacle is in front of the lane where the unmanned driving device is located and is moving towards the unmanned driving device. 2av,brake is the braking acceleration corresponding to the obstacle in front of the unmanned driving device, |v 2,lon,ρ |The maximum longitudinal acceleration for the obstacle When driving, the absolute value of the longitudinal velocity at the reaction time ρ is

[0107]

[0108] v 1,lon,ρFor unmanned driving equipment with maximum longitudinal acceleration When driving, the longitudinal velocity at the reaction time ρ is

[0109]

[0110] Since the obstacle is in the opposite direction to the driving direction of the unmanned vehicle, (v 2,lon ≤0), v 2,lon,ρ ≤0).

[0111] Accordingly, is the maximum distance the obstacle can travel within the reaction time, The maximum braking distance of the obstacle after acceleration within the reaction time. is the distance traveled by the unmanned driving device within the reaction time, It is the braking distance after acceleration during the reaction time and braking is completed.

[0112] When it is determined that the obstacle is located directly in front of the lane where the unmanned driving device is located and is opposite to the driving direction of the unmanned driving device, the minimum distance between the obstacle and the unmanned driving device actually takes into account an extreme case, that is, the unmanned driving device and the obstacle are both traveling at the maximum acceleration within the reaction time, and the obstacle is braked at the minimum braking acceleration after the reaction time. However, in the actual driving process, the braking acceleration of the obstacle in front will inevitably not be less than the minimum braking acceleration, and the longitudinal acceleration of the unmanned driving device and the obstacle in the reaction time will inevitably not be greater than the maximum longitudinal acceleration, so the minimum distance between the unmanned driving device and the obstacle will inevitably not be greater than the most conservative minimum distance between the unmanned driving device and the obstacle mentioned above. If the unmanned driving device and the obstacle will not collide in this extreme case, then the unmanned driving device and the obstacle in front will not collide in the actual driving process, so the maximum longitudinal acceleration of the unmanned driving device and the obstacle is used here. and the minimum braking acceleration of the obstacle Calculate the minimum distance between the obstacle and the unmanned driving device.

[0113] 2. The obstacle is located directly behind the lane where the unmanned vehicle is located:

[0114] When an obstacle appears directly behind the lane where the unmanned driving device is located, if the obstacle is traveling in the same direction as the unmanned driving device, the unmanned driving device can determine the maximum distance the obstacle will travel within the reaction time based on the obtained longitudinal speed of the obstacle at the current moment, the pre-set reaction time and the maximum longitudinal acceleration of the obstacle within the reaction time.

[0115] Determine the maximum distance the obstacle will travel after accelerating within the reaction time and braking based on the obstacle's current longitudinal speed, reaction time, maximum longitudinal acceleration within the reaction time, and minimum braking acceleration of the obstacle;

[0116] The distance traveled by the unmanned driving device after acceleration within the reaction time and braking is determined based on the longitudinal speed of the unmanned driving device at the current moment and the braking acceleration of the unmanned driving device.

[0117] Then, based on the maximum distance traveled by the obstacle within the reaction time, the maximum distance traveled by the obstacle after accelerating within the reaction time and braking, and the distance traveled by the unmanned driving device after accelerating within the reaction time and braking, the minimum distance between the obstacle and the unmanned driving device is determined. For example, the formula for the minimum distance between the obstacle and the unmanned driving device can be:

[0118]

[0119] Among them, d 3lon_min The minimum distance between the obstacle and the unmanned vehicle when the obstacle is directly behind the vehicle and is traveling in the same direction as the unmanned vehicle. 3av,brake This is the braking acceleration corresponding to the obstacle moving in the same direction directly behind the unmanned vehicle.

[0120] Accordingly, is the maximum distance the obstacle travels within the reaction time, The maximum braking distance of the obstacle after acceleration within the reaction time. It is the braking distance of the unmanned driving equipment after accelerating within the reaction time and completing braking.

[0121] Since when the obstacle is located directly behind the unmanned driving device and is traveling in the same direction as the unmanned driving device, there is no reaction time for the unmanned driving device to take braking measures when facing the obstacle, so there is no need to calculate the maximum distance that the unmanned driving device can travel within the reaction time.

[0122] When it is determined that the obstacle is located directly behind the unmanned vehicle's lane and is traveling in the same direction as the unmanned vehicle, the minimum distance between the obstacle and the unmanned vehicle actually takes into account an extreme case, namely, the rear obstacle accelerates at the maximum acceleration during the reaction time, while the front unmanned vehicle suddenly brakes at the maximum braking acceleration. However, in actual driving, the braking acceleration of the front unmanned vehicle will certainly not be greater than the maximum braking acceleration, and the longitudinal acceleration of the rear obstacle during the reaction time will certainly not be greater than the maximum longitudinal acceleration. Therefore, the minimum distance between the unmanned vehicle and the obstacle will certainly not be greater than the most conservative minimum distance between the unmanned vehicle and the obstacle mentioned above. Therefore, if the unmanned vehicle and the obstacle do not collide in this extreme case, then the unmanned vehicle and the obstacle in front will not collide during actual driving. Therefore, the maximum longitudinal acceleration of the rear obstacle is used here. and the minimum braking acceleration of the obstacle Calculate the minimum distance between the obstacle and the unmanned driving device.

[0123] It should be noted that when the obstacle is located directly behind the unmanned driving device, there is actually another situation, that is, the obstacle is located directly behind the unmanned driving device and is opposite to the driving direction of the unmanned driving device. However, in fact, this situation does not need to be considered, because in this case, the unmanned driving device and the obstacle will not collide. Therefore, in this manual, the unmanned driving device will not obtain the minimum distance between the obstacle and the unmanned driving device in this case.

[0124] 3. The obstacle is located on the side of the unmanned vehicle:

[0125] When an obstacle appears on the side of an unmanned driving device, a collision with the unmanned driving device often occurs because the obstacle changes lanes. For example, when an obstacle in the lane in front of the unmanned driving device is traveling in the same direction as the unmanned driving device and travels directly in front of the lane where the unmanned driving device is located, it collides with the unmanned driving device that is in the process of braking. When an obstacle in the lane in front of the unmanned driving device is traveling in the opposite direction of the unmanned driving device and travels directly in front of the lane where the unmanned driving device is located, it collides with the unmanned driving device that is in the process of braking. And when an obstacle in the lane behind the unmanned driving device is traveling in the same direction as the unmanned driving device and travels directly behind the lane where the unmanned driving device is located, it collides with the unmanned driving device that is in the process of braking, etc.

[0126] In order to avoid a collision between the unmanned driving device and the vehicle on the side of the unmanned driving device after changing lanes, in this specification, the minimum distance between the unmanned driving device and the obstacle after the unmanned driving device drives into the lane where the unmanned driving device is located is used as the minimum distance corresponding to the obstacle at the current moment.

[0127] Specifically, when an obstacle appears in the lane in front of the unmanned driving device, and the obstacle is traveling in the same direction as the unmanned driving device, the minimum distance between the obstacle and the unmanned driving device can be determined when the obstacle travels to the front of the lane where the unmanned driving device is located and then travels in the same direction. The unmanned driving device can determine the minimum distance between the obstacle and the unmanned driving device based on the maximum distance the unmanned driving device can travel within the reaction time after the obstacle travels to the front of the lane where the unmanned driving device is located, the maximum distance the unmanned driving device travels after accelerating within the reaction time and completing braking, and the minimum distance the obstacle travels after accelerating within the reaction time and completing braking. At this time, the minimum distance between the obstacle and the unmanned driving device can be expressed by the formula:

[0128]

[0129] Among them, d 4lon_min The minimum distance between the obstacle and the unmanned driving device when the obstacle is in front of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device. 4av,brake The braking acceleration of the unmanned driving device corresponding to the obstacle moving in the same direction in front of the unmanned driving device.

[0130] Accordingly, When the obstacle is in front of the unmanned vehicle and traveling in the same direction as the unmanned vehicle, the maximum braking distance of the unmanned vehicle after accelerating within the reaction time is completed.

[0131] Since when the obstacle is located in front of the unmanned vehicle and is traveling in the same direction as the unmanned vehicle, the obstacle cannot observe the driving conditions of the unmanned vehicle behind it. Therefore, there is no reaction time for the obstacle to take emergency braking measures when facing the unmanned vehicle. Therefore, there is no need to calculate the maximum distance that the obstacle can travel within the reaction time.

[0132] When an obstacle appears in the lane in front of the unmanned driving device and the obstacle is moving towards the unmanned driving device, the minimum distance between the obstacle and the unmanned driving device when the obstacle is driven to the front of the lane where the unmanned driving device is located and then moves towards the unmanned driving device can be used as the minimum distance between the obstacle and the unmanned driving device at the current moment.

[0133] The unmanned driving device can determine the minimum distance between the obstacle and the unmanned driving device based on the maximum distance the unmanned driving device can travel within the reaction time when the obstacle travels to the front of the lane where the unmanned driving device is located and travels towards the unmanned driving device, the maximum distance the unmanned driving device travels after accelerating within the reaction time and completing braking, the maximum distance the obstacle travels within the reaction time, and the maximum distance the obstacle travels after accelerating within the reaction time and completing braking. In this case, the minimum distance between the obstacle and the unmanned driving device can be expressed by the formula:

[0134]

[0135] Among them, d 5lon_min The minimum distance between the obstacle and the unmanned driving device when the obstacle is in front of the lane where the unmanned driving device is located and is moving towards the unmanned driving device. 5av,brake The braking acceleration of the unmanned driving device corresponding to the obstacle in front of the unmanned driving device moving in the opposite direction.

[0136] Accordingly, When an obstacle is in front of the unmanned vehicle and moving in the opposite direction of the unmanned vehicle, the braking distance of the unmanned vehicle after accelerating within the reaction time is completed.

[0137] When an obstacle appears in the lane behind the unmanned driving device, and the obstacle is traveling in the same direction as the unmanned driving device, the minimum distance between the obstacle and the unmanned driving device at the current moment can be used as the minimum distance between the obstacle and the unmanned driving device. The unmanned driving device can determine the minimum distance between the obstacle and the unmanned driving device based on the maximum distance the obstacle travels within the reaction time after the obstacle travels to the lane directly behind the unmanned driving device and traveling in the same direction as the unmanned driving device, the distance the obstacle travels after accelerating within the reaction time and completing braking, and the distance the unmanned driving device travels after accelerating within the reaction time and completing braking. The minimum distance between the obstacle and the unmanned driving device can be expressed as follows:

[0138]

[0139] Among them, d 6lon_min The minimum distance between the obstacle and the unmanned driving device when the obstacle is located behind the unmanned driving device in the same direction as the unmanned driving device. 6av,brake The braking acceleration of the unmanned driving device corresponding to the obstacle traveling in the same direction to the side and rear of the unmanned driving device.

[0140] Accordingly, When the obstacle is to the side and rear of the unmanned vehicle and is traveling in the same direction as the unmanned vehicle, the braking distance of the unmanned vehicle after accelerating within the reaction time is completed.

[0141] Since when the obstacle is located to the side and rear of the unmanned driving device and is traveling in the same direction as the unmanned driving device, there is no reaction time for the unmanned driving device to take braking measures when facing the obstacle, so there is no need to calculate the maximum distance that the unmanned driving device can travel within the reaction time.

[0142] It should be noted that when the obstacle is located on the side of the unmanned driving device, there is actually another situation, that is, the obstacle is located on the side and rear of the unmanned driving device and is opposite to the driving direction of the unmanned driving device. However, this situation does not need to be considered because in this case, the unmanned driving device and the obstacle will not collide. Therefore, in this manual, the unmanned driving device will not obtain the minimum distance between the obstacle and the unmanned driving device in this case.

[0143] S103: Determine, based on the minimum distance between the unmanned driving device and the obstacle during braking, a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle, as the braking acceleration range corresponding to the obstacle.

[0144] After determining the minimum distance between the unmanned vehicle and an obstacle, as long as the minimum distance between the unmanned vehicle and the obstacle does not exceed the constraint distance, the unmanned vehicle and the obstacle will not collide. Therefore, based on the relationship between the constraint distance and the minimum longitudinal distance, the minimum braking acceleration for the obstacle can be determined. The following describes how to determine the braking acceleration range for each obstacle based on different situations.

[0145] 1. The obstacle is located directly in front of the lane where the unmanned vehicle is located:

[0146] When an obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device, as long as the actual longitudinal distance between the unmanned driving device and the obstacle at the current moment is guaranteed to be no less than the minimum distance between the unmanned driving device and the obstacle when the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device, then the unmanned driving device and the obstacle will not collide. Therefore, the longitudinal distance between the unmanned driving device and the obstacle at the current moment can be used as the constraint distance.

[0147] At this time, the relationship between the constraint distance between the unmanned driving device and the obstacle and the minimum distance between the unmanned driving device and the obstacle can be expressed by the formula:

[0148] s2-s1≥d 1lon_min

[0149] Among them, s2 is the longitudinal coordinate of the obstacle, s1 is the longitudinal coordinate of the unmanned driving device, and s2-s1 is the constraint distance between the obstacle and the unmanned driving device, d 1lon_min is the minimum distance between the obstacle in front of the lane where the unmanned driving device is located and the unmanned driving device when the obstacle is traveling in the same direction as the unmanned driving device. Therefore, the minimum distance d can be calculated. 1lon_min The calculation formula includes the solution term (i.e., the acceleration range of the unmanned driving device):

[0150]

[0151] a 1av,brake The braking acceleration range is when the unmanned driving device brakes under the influence of an obstacle located directly in front of the unmanned driving device and traveling in the same direction as the unmanned driving device.

[0152] When an obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the opposite direction of the unmanned driving device, as long as the actual longitudinal distance between the unmanned driving device and the obstacle at the current moment is ensured to be no less than the minimum distance between the unmanned driving device and the obstacle when the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the opposite direction of the unmanned driving device, the unmanned driving device and the obstacle will not collide. Therefore, the longitudinal distance between the unmanned driving device and the obstacle at the current moment can be used as the constraint distance.

[0153] At this time, the relationship between the constraint distance between the unmanned driving device and the obstacle and the minimum distance between the unmanned driving device and the obstacle can be expressed by the formula:

[0154] s2-s1≥d 2lon_min

[0155] Among them, d 2lon_min is the minimum distance between the obstacle in front of the lane where the unmanned driving device is located and the unmanned driving device when the obstacle is traveling towards the unmanned driving device. Therefore, the minimum distance d can be calculated. 2lon_min The calculation formula includes the solution term (i.e., the acceleration range of the unmanned driving device):

[0156]

[0157] a 2av,brake The braking acceleration range is when the unmanned driving device brakes under the influence of an obstacle located directly in front of the unmanned driving device and traveling in the opposite direction of the unmanned driving device.

[0158] 2. The obstacle is located directly behind the lane where the unmanned vehicle is located:

[0159] When an obstacle is located directly behind an unmanned vehicle and is traveling in the same direction as the unmanned vehicle, as long as the actual longitudinal distance between the unmanned vehicle and the obstacle at the current moment is not less than the minimum distance between the unmanned vehicle and the obstacle when the obstacle is located directly behind the lane where the unmanned vehicle is located and is traveling in the same direction as the unmanned vehicle, the unmanned vehicle and the obstacle will not collide. Therefore, the longitudinal distance between the unmanned vehicle and the obstacle at the current moment can be used as the constraint distance.

[0160] At this time, the relationship between the constraint distance between the unmanned driving device and the obstacle and the minimum distance between the unmanned driving device and the obstacle can be expressed by the formula:

[0161] s1-s2≥d 3lon_min

[0162] Where s2 is the longitudinal coordinate of the obstacle, s1 is the longitudinal coordinate of the unmanned driving device, and s1-s2 is the constraint distance between the obstacle and the unmanned driving device, d 3lon_min The minimum distance between the obstacle and the unmanned driving device when the obstacle is located directly behind the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device. Therefore, the minimum distance d can be calculated. 3lon_min The calculation formula includes the solution term (i.e., the acceleration range of the unmanned driving device):

[0163]

[0164] a 3av,brake The braking acceleration range is when the unmanned vehicle brakes under the influence of an obstacle located directly behind the unmanned vehicle and traveling in the same direction as the unmanned vehicle.

[0165] 3. The obstacle is located to the side of the lane where the unmanned vehicle is located:

[0166] When an unmanned driving device is located in the lane beside an obstacle, in order to prevent the obstacle from suddenly changing lanes while the unmanned driving device is taking braking measures, causing a collision between the obstacle and the unmanned driving device, the time it takes for the obstacle to safely travel to the lane where the unmanned driving device is located can be used as the safe lane change time. Then, based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device, the braking acceleration range corresponding to the obstacle can be determined.

[0167] In the process of determining the safe lane-changing time of the obstacle, the server can analyze the previous driving data of the obstacle, and obtain the maximum lateral acceleration when the obstacle changes lanes in the most aggressive manner (that is, the obstacle changes lanes with the maximum lateral acceleration), the minimum lateral acceleration when the obstacle changes lanes in the most conservative manner (that is, the obstacle changes lanes with the minimum lateral acceleration), the maximum lateral braking acceleration, and the minimum lateral braking acceleration of the obstacle, and pre-set the above data as fixed parameters in the unmanned driving device.

[0168] It should be noted that in order to ensure the driving safety between the unmanned driving equipment and surrounding obstacles and avoid accidents, in this manual, the above-mentioned data can be applied to both the unmanned driving equipment and the obstacles. That is, the maximum lateral acceleration, minimum lateral acceleration, maximum lateral braking acceleration and minimum lateral braking acceleration for the obstacles and the maximum lateral acceleration, minimum lateral acceleration, maximum lateral braking acceleration and minimum lateral braking acceleration for the unmanned driving equipment can be the same.

[0169] Specifically, the unmanned driving device can determine the minimum distance the obstacle travels within the reaction time based on the acquired lateral speed of the obstacle at the current moment, as well as the pre-set minimum lateral acceleration and minimum reaction time of the obstacle.

[0170] Determine the minimum lateral distance the obstacle will travel after accelerating within the reaction time and braking is completed based on the obstacle's current lateral speed, minimum reaction time, minimum lateral acceleration within the reaction time, and minimum lateral braking acceleration;

[0171] The minimum lateral distance that the unmanned driving device can travel within the reaction time is determined based on the current lateral speed, minimum lateral acceleration, and minimum reaction time of the unmanned driving device.

[0172] The minimum lateral distance that the unmanned driving device travels after accelerating within the reaction time and completing braking is determined based on the current lateral speed, minimum lateral acceleration, minimum reaction time, and minimum lateral braking acceleration of the unmanned driving device.

[0173] Then, based on the minimum lateral distance traveled by the obstacle within the reaction time, the minimum lateral distance traveled by the obstacle after accelerating within the reaction time and completing braking, the minimum lateral distance traveled by the unmanned driving device within the reaction time, the minimum lateral distance traveled by the unmanned driving device after accelerating within the reaction time and completing braking, and the lateral disturbance distance, the minimum lateral safety distance between the unmanned driving device and the obstacle is determined. For example, the minimum lateral safety distance between the unmanned driving device and the obstacle can be calculated using the following formula:

[0174]

[0175] Among them, d lower is the minimum lateral safety distance between the unmanned equipment and obstacles, v 1,lat is the lateral velocity of the unmanned driving device at the current moment, v 2,lat is the lateral velocity of the obstacle at the current moment, ρ lower The minimum reaction time when unmanned driving equipment and obstacles face unexpected situations. is the minimum lateral braking acceleration between the unmanned vehicle and the obstacle, Minimum lateral acceleration for unmanned driving equipment After reaction time ρ lower The lateral speed of the rear obstacle, i.e.

[0176]

[0177] The obstacle is at the minimum lateral acceleration After reaction time ρ lower The lateral speed of the rear obstacle, i.e.

[0178]

[0179] Accordingly, the minimum lateral distance that the obstacle travels within the reaction time is: After the obstacle accelerates during the reaction time, the minimum lateral distance it travels when braking is completed is: The minimum lateral distance that an unmanned vehicle must travel within the reaction time is: After the unmanned driving device accelerates within the reaction time, the minimum lateral distance it travels when braking is completed is:

[0180] The unmanned driving device can determine the maximum lateral distance the obstacle can travel within the reaction time based on the obtained lateral speed of the obstacle at the current moment, as well as the pre-set maximum lateral acceleration and maximum reaction time of the obstacle.

[0181] The maximum lateral distance that the obstacle can travel after accelerating within the reaction time and braking is determined based on the obstacle's current lateral speed, maximum reaction time, maximum lateral acceleration within the reaction time, and maximum lateral braking acceleration.

[0182] Based on the current lateral speed, maximum lateral acceleration, and maximum reaction time of the unmanned driving device, the maximum lateral distance that the unmanned driving device can travel within the reaction time is determined; based on the current lateral speed, maximum lateral acceleration, maximum reaction time, and maximum lateral braking acceleration of the unmanned driving device, the maximum lateral distance that the unmanned driving device can travel when braking is completed after acceleration within the reaction time is determined.

[0183] Then, based on the maximum lateral distance traveled by the obstacle within the reaction time, the maximum lateral distance traveled by the obstacle after acceleration within the reaction time and braking completion, the maximum lateral distance traveled by the unmanned driving device within the reaction time, the maximum lateral distance traveled by the unmanned driving device after acceleration within the reaction time and braking completion, and the lateral disturbance distance, the maximum lateral safety distance between the unmanned driving device and the obstacle is determined. For example, the maximum lateral safety distance between the unmanned driving device and the obstacle can be calculated using the following formula:

[0184]

[0185] Among them, d upper is the maximum lateral safety distance between the unmanned vehicle and the obstacle, ρ upper The maximum reaction time of unmanned driving equipment and obstacles in the face of emergencies. is the maximum lateral braking acceleration between the unmanned driving equipment and the obstacle, For unmanned driving equipment at maximum lateral acceleration After reaction time ρ upper The lateral speed of the rear obstacle, i.e.

[0186]

[0187] The maximum lateral acceleration of the obstacle After reaction time ρ upper The lateral speed of the rear obstacle, i.e.

[0188]

[0189] Accordingly, the maximum lateral distance that the obstacle travels within the reaction time is: The maximum lateral distance the obstacle travels during braking is: The maximum lateral distance that the unmanned vehicle can travel within the reaction time is: The maximum lateral distance that an unmanned vehicle can travel during braking is:

[0190] After determining the maximum lateral safety distance and the minimum lateral safety distance between the unmanned driving device and the obstacle on the side of the unmanned driving device, a safety scoring formula that includes the safety distance between the obstacle and the unmanned driving device can be determined based on the maximum lateral safety distance and the minimum safety distance. For example, the safety scoring formula can be:

[0191]

[0192] Among them, score is the safety score at the current moment, score (0≤score≤1), and d is the safe distance between the obstacle and the unmanned driving device.

[0193] From this, we can infer that when the unmanned driving device determines the safe distance between the obstacle and the unmanned driving device based on the specified safety score, the calculation formula for the lateral safe distance between the obstacle and the unmanned driving device is:

[0194]

[0195] Among them, score safe_threshold A safety score between 0 and 1 that is pre-set in the autonomous driving device.

[0196] After determining the lateral safety distance between the obstacle and the unmanned driving device under the specified score, the unmanned driving device can determine the time it takes for the obstacle to safely travel to the lane where the unmanned driving device is located based on the lateral safety distance, the lateral speed of the obstacle at the current moment, and the lateral speed of the unmanned driving device. This time is used as the safe lane change time. For example, the calculation formula for the safe lane change time can be:

[0197]

[0198] Where t is the safe lane change time required for the obstacle to reach the lane where the unmanned driving device is located, and d is the lateral safety distance between the obstacle and the unmanned driving device.

[0199] When an obstacle is located in front of the side of the unmanned driving device and is traveling in the same direction as the unmanned driving device, as long as the longitudinal distance between the unmanned driving device and the obstacle after the above-mentioned safe lane change time is greater than the minimum distance between the unmanned driving device and the obstacle when the obstacle is located in front of the side of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device, the unmanned driving device and the obstacle will not collide. Therefore, the longitudinal distance between the unmanned driving device and the obstacle after the above-mentioned safe lane change time can be used as the constraint distance. For ease of understanding, this manual provides a schematic diagram of an obstacle located in front of the side of the unmanned driving device and traveling in the same direction as the unmanned driving device, as shown in FIG. Figure 2shown.

[0200] Figure 2 This manual provides a schematic diagram of an obstacle located in front of the side of an unmanned driving device and traveling in the same direction as the unmanned driving device.

[0201] The obstacle is a moving vehicle, which is located in front of the unmanned driving device and moves in the same direction as the unmanned driving device. The constraint distance is the longitudinal distance between the unmanned driving device and the obstacle after the obstacle changes lanes for the safe lane change time.

[0202] At this time, the relationship between the constraint distance and the minimum distance between the unmanned driving device and the obstacle can be expressed as follows:

[0203] (s2+v 2,lon t)-(s1+v 1,lon t)≥d 4lon_min

[0204] Among them, s2 is the longitudinal coordinate of the obstacle, s1 is the longitudinal coordinate of the unmanned driving device, then (s2+v 2,lon t)-(s1+v 1,lon t) is the constraint distance between the obstacle and the unmanned vehicle after changing lanes. Therefore, the minimum distance d can be calculated 4lon_min The calculation formula includes the solution term (i.e., the acceleration range of the unmanned driving device):

[0205]

[0206] a 4av,brake The braking acceleration range is when the unmanned driving device brakes under the influence of an obstacle located in front of the unmanned driving device and traveling in the same direction as the unmanned driving device.

[0207] When an obstacle is located in front of the unmanned driving device and is traveling in the opposite direction to the unmanned driving device, as long as the longitudinal distance between the unmanned driving device and the obstacle after the above-mentioned safe lane change time is greater than the minimum distance between the unmanned driving device and the obstacle when the obstacle is located in front of the lane where the unmanned driving device is located and is traveling in the opposite direction to the unmanned driving device, the unmanned driving device and the obstacle will not collide. Therefore, the longitudinal distance between the unmanned driving device and the obstacle after the above-mentioned safe lane change time can be used as the constraint distance. For ease of understanding, this manual provides a schematic diagram of an obstacle located in front of the unmanned driving device and traveling in the opposite direction to the unmanned driving device, as shown in FIG. Figure 3 shown.

[0208] Figure 3This manual provides a schematic diagram of an obstacle located in front of an unmanned driving device and traveling in the opposite direction of the unmanned driving device.

[0209] The obstacle is a moving vehicle, which is located in front of the unmanned driving device and is moving towards the unmanned driving device. The constraint distance is the longitudinal distance between the unmanned driving device and the obstacle after the obstacle changes lanes for the safe lane change time.

[0210] At this time, the relationship between the constraint distance and the minimum distance between the unmanned driving device and the obstacle can be expressed as follows:

[0211] (s2-v 2,lon t)-(s1+v 1,lon t)≥d 5lon_min

[0212] Among them, s2 is the longitudinal coordinate of the obstacle, s1 is the longitudinal coordinate of the unmanned driving device, then (s2-v 2,lon t)-(s1+v 1,lon t) is the constraint distance between the obstacle and the unmanned vehicle after changing lanes. Therefore, the minimum distance d can be calculated 5lon_min The calculation formula includes the solution term (i.e., the acceleration range of the unmanned driving device):

[0213]

[0214] a 5av,brake The braking acceleration range is when the unmanned driving device brakes under the influence of an obstacle located in front of the unmanned driving device and traveling in the opposite direction of the unmanned driving device.

[0215] When an obstacle is located behind the unmanned driving device and is traveling in the opposite direction to the unmanned driving device, as long as the longitudinal distance between the unmanned driving device and the obstacle after the above-mentioned safe lane change time is greater than the minimum distance between the unmanned driving device and the obstacle when the obstacle is located behind the unmanned driving device's lane and is traveling in the same direction as the unmanned driving device, the unmanned driving device and the obstacle will not collide. Therefore, the longitudinal distance between the unmanned driving device and the obstacle after the above-mentioned safe lane change time can be used as the constraint distance. For ease of understanding, this manual provides a schematic diagram of an obstacle located behind the unmanned driving device and traveling in the same direction as the unmanned driving device, as shown in FIG. Figure 4 shown.

[0216] Figure 4 This manual provides a schematic diagram of an obstacle located at the side and rear of an unmanned driving device and traveling in the same direction as the unmanned driving device.

[0217] The obstacle is a moving vehicle, which is located to the side and rear of the unmanned driving device and is moving in the same direction as the unmanned driving device. The constraint distance is the longitudinal distance between the unmanned driving device and the obstacle after the obstacle changes lanes for the safe lane change time.

[0218] At this time, the relationship between the constraint distance and the minimum distance between the unmanned driving device and the obstacle can be expressed as follows:

[0219] (s1+v 1,lon t)-(s2+v 2,lon t)≥d 6lon_min

[0220] Among them, s2 is the longitudinal coordinate of the obstacle, s1 is the longitudinal coordinate of the unmanned driving device, then (s1+v 1,lon t)-(s2+v 2,lon t) is the constraint distance between the obstacle and the unmanned vehicle after changing lanes. Therefore, the minimum distance d can be calculated 6lon_min The calculation formula includes the solution term (i.e., the acceleration range of the unmanned driving device):

[0221]

[0222] a 6av,brake The braking acceleration range is when the unmanned driving device brakes under the influence of an obstacle located to the side and rear of the unmanned driving device and traveling in the opposite direction of the unmanned driving device.

[0223] In addition, the unmanned driving device can determine the braking acceleration range of the unmanned driving device based on the surrounding traffic information obtained. For example, when a traffic light appears in front of the unmanned driving device and the traffic light is red or yellow, the unmanned driving device needs to complete braking before the stop line.

[0224] Therefore, the unmanned driving device can determine the braking acceleration for the traffic information based on the distance from the stop line. As long as the distance traveled by the unmanned driving device when taking braking measures is not greater than the actual distance between the unmanned driving device and the stop line obtained by the sensors mounted on the unmanned driving device, the unmanned driving device will not exceed the stop line after taking braking measures. For example, the relationship between the distance traveled by the unmanned driving device when taking braking measures and the distance between the unmanned driving device and the stop line can be expressed by the formula:

[0225]

[0226] Among them, a 7av,brake is the braking acceleration of the unmanned driving device for the traffic signal, dbrake is the actual distance between the unmanned driving device and the stop line. Based on this, the braking acceleration range of the unmanned driving device for this traffic information can be obtained, that is,

[0227]

[0228] S104: Determine the braking acceleration of the unmanned driving device according to the braking acceleration range corresponding to each obstacle, and control the unmanned driving device to brake according to the braking acceleration.

[0229] After the unmanned driving device determines the braking acceleration range corresponding to each surrounding obstacle and the braking acceleration range corresponding to the traffic information, the unmanned driving device can determine the final braking acceleration range of the unmanned driving device based on the braking acceleration range of each surrounding obstacle. For example, the unmanned driving device can intersect the braking acceleration range corresponding to each surrounding obstacle and the braking acceleration range corresponding to the traffic information. The calculation formula for the final braking acceleration range of the unmanned driving device can be:

[0230] a av,brake =a 1av,brake ∩a 2av,brake

[0231] ∩a 3av,brake ∩a 4av,brake ∩a 5av,brake ∩a 6av,brake ∩a 7av,brake

[0232] Among them, a av,brake It is the final braking acceleration range of the unmanned equipment.

[0233] After the unmanned driving device determines the final braking acceleration range, it can select a suitable braking acceleration within the range according to actual conditions as the braking acceleration of the unmanned driving device, and control the unmanned driving device to brake according to the braking acceleration. For example, the maximum braking acceleration within the braking acceleration range can be selected as the braking acceleration when the unmanned driving device takes braking measures, thereby avoiding safety hazards of the unmanned driving device during the braking process.

[0234] It can be seen from the above method that when an unmanned driving device performs emergency braking in an emergency situation, it will determine the final braking acceleration of the unmanned driving device based on the driving information and traffic information of each surrounding obstacle, thereby avoiding collision with surrounding obstacles and achieving braking while ensuring the safety of the unmanned driving device and surrounding vehicles.

[0235] The above is one or more control methods for implementing unmanned driving equipment in this specification. Based on the same idea, this specification also provides a corresponding control device for unmanned driving equipment, such as Figure 5 shown.

[0236] Figure 5 A schematic diagram of an unmanned driving device provided for this specification includes:

[0237] An acquisition module 501 is configured to determine, for each obstacle, a minimum distance between the unmanned driving device and the obstacle during braking based on the driving information of the unmanned driving device and the driving information of the vehicle;

[0238] A first determining module 502 determines, for each obstacle, a minimum distance between the unmanned driving device and the obstacle during braking based on the driving information of the unmanned driving device and the driving information of the vehicle;

[0239] A second determining module 503 determines, based on the minimum distance between the unmanned driving device and the obstacle during braking, a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle, as the braking acceleration range corresponding to the obstacle;

[0240] The braking module 504 determines the braking acceleration of the unmanned driving device according to the braking acceleration range corresponding to each obstacle, and controls the unmanned driving device to brake according to the braking acceleration.

[0241] Optionally, the first determination module 502 is specifically used to determine the position relationship and driving direction relationship between the unmanned driving device and the obstacle based on the driving information of the unmanned driving device and the driving information of the obstacle; and determine the minimum distance between the unmanned driving device and the obstacle when braking based on the position relationship and the driving direction relationship.

[0242] Optionally, the positional relationship between the unmanned driving device and the obstacle includes: the obstacle is located in at least one of the lane to the side of the unmanned driving device, the obstacle is located directly in front of the lane where the unmanned driving device is located, and the obstacle is located directly behind the lane where the unmanned driving device is located; the driving direction relationship includes: the obstacle is traveling in the same direction as the unmanned driving device, and the obstacle is traveling in the opposite direction to the unmanned driving device.

[0243] Optionally, the second determination module 503 is specifically used to, if the obstacle is located in the side lane of the unmanned driving device, determine the time it takes for the obstacle to safely travel to the lane where the unmanned driving device is located, as the safe lane change duration; based on the driving information of the unmanned driving device and the obstacle, determine the minimum distance between the obstacle and the unmanned driving device, which includes an item to be solved, wherein the item to be solved is used to represent the braking acceleration range corresponding to the obstacle that needs to be solved; based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device, determine the braking acceleration range corresponding to the obstacle.

[0244] Optionally, the second determination module 503 is specifically used to determine the maximum lateral safety distance and the minimum lateral safety distance between the obstacle and the unmanned driving device based on the driving information of the unmanned driving device and the obstacle, and the pre-set maximum lateral acceleration and minimum lateral acceleration of the obstacle; determine the lateral safety distance between the obstacle and the unmanned driving device under a specified safety score based on the maximum lateral safety distance and the minimum lateral safety distance, wherein the greater the safety score, the greater the lateral safety distance between the obstacle and the unmanned driving device; based on the lateral safety distance and the driving information of the unmanned driving device and the obstacle, determine the time taken for the obstacle to travel to the lane where the unmanned driving device is located as the safe lane change time.

[0245] Optionally, the second determination module 503 is specifically used to, if the obstacle is located in front of the side of the unmanned driving device and is in the same direction of travel as the unmanned driving device, determine the minimum distance between the obstacle containing the item to be solved and the unmanned driving device based on the pre-set maximum longitudinal acceleration of the unmanned driving device within the reaction time and the maximum braking acceleration of the obstacle; and determine the braking acceleration range corresponding to the obstacle being located in front of the side of the unmanned driving device and traveling in the same direction as the unmanned driving device based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device.

[0246] Optionally, the second determination module 503 is specifically used to, if the obstacle is located in front of the side of the unmanned driving device and is traveling in the opposite direction of the unmanned driving device, determine the minimum distance between the obstacle and the unmanned driving device, which includes the item to be solved, based on the pre-set maximum longitudinal acceleration of the unmanned driving device within the reaction time, the maximum longitudinal acceleration of the obstacle within the reaction time, and the minimum braking acceleration of the obstacle; and determine the braking acceleration range corresponding to the obstacle being located in front of the side of the unmanned driving device and traveling in the opposite direction of the unmanned driving device based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device.

[0247] Optionally, the second determination module 503 is specifically used to, if the obstacle is located behind the unmanned driving device and is traveling in the same direction as the unmanned driving device, determine the minimum distance between the obstacle and the unmanned driving device, including the item to be solved, based on the pre-set maximum longitudinal acceleration of the obstacle within the reaction time and the minimum braking acceleration of the obstacle; and determine the braking acceleration range corresponding to the obstacle being located behind the unmanned driving device and traveling in the same direction as the unmanned driving device based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device.

[0248] Optionally, the second determination module 503 is specifically used to determine, based on the current longitudinal distance between the unmanned driving device and the obstacle, the longitudinal distance between the unmanned driving device and the obstacle after the unmanned driving device and the obstacle have traveled for the safe lane change time, as a constraint distance; and determine the braking acceleration range corresponding to the obstacle with the minimum distance between the obstacle and the unmanned driving device not exceeding the constraint distance as a constraint condition.

[0249] Optionally, the first determination module 502 is specifically used to determine the minimum distance between the obstacle, including the item to be solved, and the unmanned driving device based on the pre-set maximum longitudinal acceleration of the unmanned driving device within the reaction time and the maximum braking acceleration of the obstacle if the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device.

[0250] Optionally, the second determination module 503 is specifically used to determine, based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device.

[0251] Optionally, the first determination module 502 is specifically used to determine the minimum distance between the obstacle, which includes the item to be solved, and the unmanned driving device based on the pre-set maximum longitudinal acceleration of the unmanned driving device within the reaction time, the maximum longitudinal acceleration of the obstacle within the reaction time, and the minimum braking acceleration of the obstacle, if the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the opposite direction of the unmanned driving device.

[0252] Optionally, the second determination module 503 is specifically used to determine, based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the opposite direction of the unmanned driving device.

[0253] Optionally, the first determination module 502 is specifically used to determine the minimum distance between the obstacle, including the item to be solved, and the unmanned driving device based on a pre-set maximum longitudinal acceleration of the obstacle within the reaction time and a pre-set minimum braking acceleration of the obstacle if the obstacle is located directly behind the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device.

[0254] Optionally, the second determination module 503 is specifically used to determine, based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly behind the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device.

[0255] Optionally, the second determination module 503 is specifically used to determine the current longitudinal distance between the unmanned driving device and the obstacle as a constraint distance; and determine the braking acceleration range corresponding to the obstacle with the constraint condition that the minimum distance between the obstacle and the unmanned driving device does not exceed the constraint distance.

[0256] Optionally, the second determining module 503 is further configured to obtain traffic information in the driving environment of the unmanned driving device;

[0257] If it is determined based on the traffic information that there is a stop line ahead of the unmanned driving device, determining a braking acceleration range for the unmanned driving device to stop at the stop line;

[0258] Determining the braking acceleration of the unmanned driving device according to the braking acceleration range corresponding to each obstacle specifically includes:

[0259] Based on the braking acceleration range of the unmanned driving device for the traffic information and the braking acceleration range corresponding to each obstacle, the braking acceleration of the unmanned driving device is determined, and the unmanned driving device is controlled to brake according to the braking acceleration.

[0260] This specification also provides a computer-readable storage medium, which stores a computer program that can be used to execute the above Figure 1 A control method for unmanned driving equipment is provided.

[0261] This manual also provides Figure 6 The one shown corresponds to Figure 1 Schematic diagram of the unmanned driving equipment. Figure 6As mentioned above, at the hardware level, the unmanned driving device includes a processor, an internal bus, a network interface, a memory and a non-volatile memory, and may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc. In other words, the execution body of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0262] In the 1990s, technological improvements could be clearly distinguished as either hardware improvements (for example, improvements to circuit structures like diodes, transistors, and switches) or software improvements (improvements to process flows). However, with the advancement of technology, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always create the corresponding hardware circuit structure by programming the improved process flow into the hardware circuit. Therefore, it cannot be said that a process flow improvement cannot be implemented using hardware modules. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD through their own programming, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0263] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0264] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0265] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0266] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0267] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0268] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0269] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0270] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0271] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0272] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0273] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0274] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Thus, this specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0275] This specification may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0276] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0277] The foregoing is merely an example of the present invention and is not intended to limit the present invention. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A control method for an unmanned driving device, characterized in that: The method is applied to the field of unmanned delivery, including: Acquiring driving information of the unmanned driving device and driving information of obstacles around the unmanned driving device; the driving information includes: the lateral speed, longitudinal speed, driving direction, and position coordinates of the unmanned driving device and each obstacle around the unmanned driving device at a current moment, as well as a preset reaction time before braking measures are taken for the unmanned driving device and each obstacle around the unmanned driving device, a maximum braking acceleration, a minimum braking acceleration, and a maximum acceleration and a minimum acceleration during driving; For each obstacle, determining a minimum distance between the unmanned driving device and the obstacle during braking based on the driving information of the unmanned driving device and the driving information of the obstacle; determining, based on a minimum distance between the unmanned driving device and the obstacle during braking, a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle, as the braking acceleration range corresponding to the obstacle; Obtaining traffic information in the driving environment of the unmanned driving device; If it is determined according to the traffic information that there is a stop line in front of the unmanned driving device, determining a braking acceleration range for the unmanned driving device to stop at the stop line; Intersection processing is performed on the braking acceleration range of the unmanned driving device for the traffic information and the braking acceleration range corresponding to each obstacle to obtain a target braking acceleration range for the unmanned driving device, the braking acceleration of the unmanned driving device is determined based on the target braking acceleration range, and the unmanned driving device is controlled to brake based on the braking acceleration.

2. The method according to claim 1, wherein Determining, based on the driving information of the unmanned driving device and the driving information of the obstacle, a minimum distance between the unmanned driving device and the obstacle during braking, specifically includes: Determining a positional relationship and a driving direction relationship between the unmanned driving device and the obstacle based on the driving information of the unmanned driving device and the driving information of the obstacle; The minimum distance between the unmanned driving device and the obstacle during braking is determined based on the position relationship and the driving direction relationship.

3. The method according to claim 2, wherein The positional relationship between the unmanned driving device and the obstacle includes at least one of: the obstacle is located in a lane to the side of the unmanned driving device, the obstacle is located directly in front of the lane where the unmanned driving device is located, and the obstacle is located directly behind the lane where the unmanned driving device is located; The driving direction relationship includes: the obstacle and the unmanned driving device are traveling in the same direction, and the obstacle and the unmanned driving device are traveling in opposite directions.

4. The method according to claim 3, wherein Determining, based on the minimum distance between the unmanned driving device and the obstacle during braking, a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle, as the braking acceleration range corresponding to the obstacle, specifically includes: If the obstacle is located in the lane to the side of the unmanned driving device, the time it takes for the obstacle to safely move to the lane where the unmanned driving device is located is determined as the safe lane change time; Determining, based on driving information of the unmanned driving device and the obstacle, a minimum distance between the obstacle and the unmanned driving device, including an unsolved term, wherein the unsolved term represents a braking acceleration range corresponding to the obstacle that needs to be solved; A braking acceleration range corresponding to the obstacle is determined based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device.

5. The method according to claim 4, wherein The time taken for the obstacle to safely move to the lane where the unmanned driving device is located is determined as the safe lane change time, specifically including: Determining a maximum lateral safety distance and a minimum lateral safety distance between the obstacle and the unmanned driving device based on driving information of the unmanned driving device and the obstacle, and a preset maximum lateral acceleration and a preset minimum lateral acceleration of the obstacle; determining, based on the maximum lateral safety distance and the minimum lateral safety distance, a lateral safety distance between the obstacle and the unmanned driving device under a specified safety score, wherein a greater safety score indicates a greater lateral safety distance between the obstacle and the unmanned driving device; Based on the lateral safety distance and the driving information of the unmanned driving device and the obstacle, the time taken for the obstacle to travel to the lane where the unmanned driving device is located is determined as the safe lane change time.

6. The method according to claim 4, wherein Determining a braking acceleration range corresponding to the obstacle based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device, specifically including: If the obstacle is located in front of the unmanned vehicle and in the same direction of travel as the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved item, based on the preset maximum longitudinal acceleration of the unmanned vehicle within the reaction time and the maximum braking acceleration of the obstacle; Based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located in front of the unmanned driving device and travels in the same direction as the unmanned driving device is determined.

7. The method according to claim 4, wherein Determining a braking acceleration range corresponding to the obstacle based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device, specifically including: If the obstacle is located in front of the unmanned vehicle and is traveling in the opposite direction of the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved item, based on the preset maximum longitudinal acceleration of the unmanned vehicle within the reaction time, the maximum longitudinal acceleration of the obstacle within the reaction time, and the minimum braking acceleration of the obstacle; Based on the safe lane change time and the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located in front of the unmanned driving device and is traveling in the opposite direction of the unmanned driving device is determined.

8. The method according to claim 4, wherein Determining a braking acceleration range corresponding to the obstacle based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device, specifically including: If the obstacle is located to the side and rear of the unmanned vehicle and is traveling in the same direction as the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved term, based on the predetermined maximum longitudinal acceleration of the obstacle within the reaction time and the minimum braking acceleration of the obstacle; Based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located to the side and rear of the unmanned driving device and travels in the same direction as the unmanned driving device is determined.

9. The method according to any one of claims 4 to 8, wherein: Determining a braking acceleration range corresponding to the obstacle based on the safe lane change duration and the minimum distance between the obstacle and the unmanned driving device, specifically including: Based on the current longitudinal distance between the unmanned driving device and the obstacle, determine the longitudinal distance between the unmanned driving device and the obstacle after the unmanned driving device and the obstacle have traveled for the safe lane change time, as the constraint distance; The braking acceleration range corresponding to the obstacle is determined based on the constraint condition that the minimum distance between the obstacle and the unmanned driving device does not exceed the constraint distance.

10. The method according to claim 3, wherein Determining a minimum distance between the unmanned driving device and the obstacle during braking based on the position relationship and the driving direction relationship specifically includes: If the obstacle is located directly in front of the lane where the unmanned vehicle is located and is traveling in the same direction as the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved term, based on the preset maximum longitudinal acceleration of the unmanned vehicle within the reaction time and the maximum braking acceleration of the obstacle; Determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on a minimum distance between the unmanned driving device and the obstacle during braking, specifically including: Based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device is determined.

11. The method according to claim 3, wherein Determining a minimum distance between the unmanned driving device and the obstacle during braking based on the position relationship and the driving direction relationship specifically includes: If the obstacle is located directly in front of the lane where the unmanned vehicle is located and is traveling in the opposite direction of the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved term, based on the preset maximum longitudinal acceleration of the unmanned vehicle within the reaction time, the maximum longitudinal acceleration of the obstacle within the reaction time, and the minimum braking acceleration of the obstacle; Determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on a minimum distance between the unmanned driving device and the obstacle during braking, specifically including: Based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly in front of the lane where the unmanned driving device is located and is traveling in the opposite direction of the unmanned driving device is determined.

12. The method according to claim 3, wherein Determining a minimum distance between the unmanned driving device and the obstacle during braking based on the position relationship and the driving direction relationship specifically includes: If the obstacle is located directly behind the lane where the unmanned vehicle is located and is traveling in the same direction as the unmanned vehicle, determine the minimum distance between the obstacle and the unmanned vehicle, including the unsolved term, based on the predetermined maximum longitudinal acceleration of the obstacle within the reaction time and the minimum braking acceleration of the obstacle; Determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on a minimum distance between the unmanned driving device and the obstacle during braking, specifically including: Based on the minimum distance between the obstacle and the unmanned driving device, a braking acceleration range corresponding to when the obstacle is located directly behind the lane where the unmanned driving device is located and is traveling in the same direction as the unmanned driving device is determined.

13. The method according to any one of claims 10 to 12, wherein: Determining a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle based on a minimum distance between the unmanned driving device and the obstacle during braking, specifically including: Determining the current longitudinal distance between the unmanned driving device and the obstacle as a constraint distance; The braking acceleration range corresponding to the obstacle is determined based on the constraint condition that the minimum distance between the obstacle and the unmanned driving device does not exceed the constraint distance.

14. An unmanned driving control device, characterized in that: The device is used to perform unmanned delivery services, including: an acquisition module for acquiring driving information of the unmanned driving device and driving information of obstacles around the unmanned driving device; the driving information includes: the lateral speed, longitudinal speed, driving direction, and position coordinates of the unmanned driving device and each obstacle around the unmanned driving device at a current moment, as well as a preset reaction time before braking measures are taken for the unmanned driving device and each obstacle around the unmanned driving device, a maximum braking acceleration, a minimum braking acceleration, and a maximum acceleration and a minimum acceleration during driving; A first determination module determines, for each obstacle, a minimum distance between the unmanned driving device and the obstacle during braking based on the driving information of the unmanned driving device and the driving information of the obstacle; a second determining module, which determines, based on a minimum distance between the unmanned driving device and the obstacle during braking, a braking acceleration range of the unmanned driving device when braking under the influence of the obstacle, as the braking acceleration range corresponding to the obstacle; The second determination module obtains traffic information in the driving environment of the unmanned driving device; if it is determined based on the traffic information that there is a stop line in front of the unmanned driving device, determines the braking acceleration range for the unmanned driving device to stop at the stop line; The braking module performs intersection processing on the braking acceleration range of the unmanned driving device in response to the traffic information and the braking acceleration range corresponding to each obstacle to obtain a target braking acceleration range of the unmanned driving device, determines the braking acceleration of the unmanned driving device based on the target braking acceleration range, and controls the unmanned driving device to brake based on the braking acceleration.

15. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 13 is implemented.

16. An unmanned driving device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 13 is implemented.

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