A method, device, medium and electronic device for bypassing obstacles

Abstract

The present disclosure provides a method, apparatus, medium, and electronic device for bypassing obstacles. The present disclosure obtains surrounding perception information through multiple sensors, obtains obstacle information of at least one obstacle in front of the unmanned low-speed vehicle through the perception information, and determines whether to bypass the at least one obstacle based on the perception information and the obstacle information. This avoids over-reliance on images, reduces the interference of external environmental factors on images, ensures the stability of information recognition, and reduces the incidence of missed detections.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent vehicles, and in particular, to a method, apparatus, medium, and electronic device for bypassing obstacles. Background Art

[0002] The road conditions on public roads are often complex. During the automatic driving process of driverless vehicles, obstacles blocking the current lane, such as pedestrians, cones, other social vehicles, etc., are often encountered, and these obstacles need to be intelligently identified and automatically avoided.

[0003] Currently, autonomous vehicles mainly identify obstacles only through visual images. Therefore, due to the interference of external environmental factors, missed detections are very likely to occur.

[0004] Therefore, the present disclosure provides a method for bypassing obstacles to solve one of the above technical problems. Summary of the Invention

[0005] The purpose of the present disclosure is to provide a method, apparatus, medium, and electronic device for bypassing obstacles, which can solve at least one of the above-mentioned technical problems. The specific solutions are as follows:

[0006] According to a specific embodiment of the present disclosure, in a first aspect, the present disclosure provides a method for bypassing obstacles, including:

[0007] During the process of a driverless low-speed vehicle driving along a navigation route, surrounding perception information is obtained through multiple sensors;

[0008] If obstacle information of at least one obstacle in front of the driverless low-speed vehicle can be obtained based on the perception information, it is determined whether to bypass the at least one obstacle based on the obstacle information of the at least one obstacle;

[0009] When it is determined that the at least one obstacle needs to be bypassed, a bypass path for bypassing the at least one obstacle is generated based on the obstacle information of the at least one obstacle and the perception information;

[0010] Bypass the at least one obstacle based on the bypass path.

[0011] Optionally, the determining whether to bypass the at least one obstacle based on the obstacle information of the at least one obstacle includes:

[0012] Determine the first positioning information of the nearest traffic signal on the navigation route behind the at least one obstacle based on a preset three-dimensional electronic map;

[0013] Determine a first driving distance value of the navigation route based on second positioning information and the first positioning information in the obstacle information of the at least one obstacle;

[0014] When the first driving distance value is greater than a preset traffic signal distance threshold, determine that it is necessary to bypass the at least one obstacle.

[0015] Optionally, after determining the first driving distance value of the navigation route, further include:

[0016] When the first driving distance value is less than or equal to the preset traffic signal distance threshold, drive along the navigation route following the at least one obstacle.

[0017] Optionally, the determining that it is necessary to bypass the at least one obstacle when the first driving distance value is greater than the preset traffic signal distance threshold includes:

[0018] When the first driving distance value is greater than the preset traffic signal distance threshold and the movement speed value along the navigation route direction in the obstacle information is less than or equal to a preset speed threshold, determine that it is necessary to bypass the at least one obstacle.

[0019] Optionally, the method further includes:

[0020] When the first driving distance value is greater than the preset traffic signal distance threshold and the movement speed value in the obstacle information is greater than the preset speed threshold, drive along the navigation route following the at least one obstacle.

[0021] Optionally, the generating a bypass path around the at least one obstacle based on the obstacle information of the at least one obstacle and the sensing information includes:

[0022] Obtain lane line information of the lane lines on both sides of the lane where the unmanned low-speed vehicle is located based on the image information in the sensing information;

[0023] When it is determined that the lane line information of any one side lane is preset dotted line information, generate a bypass path around the at least one obstacle through the lane line of the one side.

[0024] Optionally, after obtaining the lane line information of the lane where the unmanned low-speed vehicle is located based on the image information in the sensing information, further include:

[0025] When it is determined that the lane line information of the lane lines on both sides of the lane is preset solid line information, drive along the navigation route to the at least one obstacle and then stop for manual intervention.

[0026] According to specific embodiments of the present disclosure, in a second aspect, the present disclosure provides a device for bypassing obstacles, including:

[0027] An acquisition unit, configured to obtain surrounding perception information through multiple sensors during the process of an unmanned low-speed vehicle traveling along a navigation route;

[0028] A determination unit, configured to determine whether it is necessary to bypass at least one obstacle in front of the unmanned low-speed vehicle based on the obstacle information of the at least one obstacle if the obstacle information of at least one obstacle in front of the unmanned low-speed vehicle can be obtained based on the perception information;

[0029] A generation unit, configured to generate a bypass path for bypassing the at least one obstacle based on the obstacle information of the at least one obstacle and the perception information when it is determined that it is necessary to bypass the at least one obstacle;

[0030] A bypass unit, configured to bypass the at least one obstacle based on the bypass path.

[0031] Optionally, the determination unit includes:

[0032] A first determination subunit, configured to determine first positioning information of the nearest traffic signal on the navigation route behind the at least one obstacle based on a preset three-dimensional electronic map;

[0033] A second determination subunit, configured to determine a first driving distance value of the navigation route based on second positioning information in the obstacle information of the at least one obstacle and the first positioning information;

[0034] A third determination subunit, configured to determine that it is necessary to bypass the at least one obstacle when the first driving distance value is greater than a preset traffic signal distance threshold.

[0035] Optionally, the determination unit further includes:

[0036] A first following subunit, configured to travel following the at least one obstacle along the navigation route when the first driving distance value is less than or equal to the preset traffic signal distance threshold.

[0037] Optionally, the third determination subunit includes:

[0038] A fourth determination subunit, configured to determine that it is necessary to bypass the at least one obstacle when the first driving distance value is greater than the preset traffic signal distance threshold and the movement speed value in the obstacle information along the navigation route direction is less than or equal to a preset speed threshold.

[0039] Optionally, the determination unit further includes:

[0040] A second following subunit, configured to, when the first driving distance value is greater than a preset traffic signal distance threshold and when the moving speed value in the obstacle information is greater than a preset speed threshold, follow the at least one obstacle according to the navigation route.

[0041] Optionally, the generating unit includes:

[0042] An obtaining subunit, configured to obtain lane line information of lane lines on both sides of the lane where the unmanned low-speed vehicle is located based on the image information in the perception information;

[0043] A generating subunit, configured to, when it is determined that the lane line information of any one side lane is preset dotted line information, generate a detour path for detouring around the at least one obstacle through the lane line on the one side based on the obstacle information of the at least one obstacle.

[0044] Optionally, the generating unit further includes:

[0045] A second following subunit, configured to, when it is determined that the lane line information of the lane lines on both sides of the lane is preset solid line information, drive to the at least one obstacle according to the navigation route and then stop, and call for manual intervention.

[0046] According to a specific embodiment of the present disclosure, in a third aspect, the present disclosure provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for detouring around an obstacle as described in any one of the above is implemented.

[0047] According to a specific embodiment of the present disclosure, in a fourth aspect, the present disclosure provides an electronic device, including: one or more processors; a storage device, configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method for detouring around an obstacle as described in any one of the above.

[0048] The above solution of the embodiment of the present disclosure has at least the following beneficial effects compared with the prior art:

[0049] The present disclosure provides a method, device, medium, and electronic device for detouring around an obstacle. The present disclosure obtains surrounding perception information through multiple sensors, obtains obstacle information of at least one obstacle in front of the unmanned low-speed vehicle through the perception information, and determines whether to detour around the at least one obstacle through the perception information and the obstacle information. It avoids over-reliance on images, reduces the interference of external environmental factors on images, ensures the stability of information recognition, reduces the occurrence rate of missed detections. It avoids uncivilized behaviors of not queuing and traffic jams caused by random detouring. It improves the road passing ability and average vehicle speed of the unmanned low-speed vehicle. Description of the Drawings

[0050] Figure 1 The flowchart of the method for bypassing an obstacle according to an embodiment of the present disclosure is shown;

[0051] Figure 2 The unit block diagram of the device for bypassing an obstacle according to an embodiment of the present disclosure is shown. Detailed implementation manners

[0052] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0053] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms of "a", "the" and "said" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0054] It should be understood that the term "and / or" used herein is only a description of the associated relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0055] It should be understood that although terms such as first, second, and third may be used in the embodiments of the present disclosure for description, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present disclosure, the first can also be called the second, and similarly, the second can also be called the first.

[0056] Depending on the context, the words "if", "when" as used herein can be interpreted as "when...", "when...", "in response to determining", or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detected (stated condition or event)" can be interpreted as "when determined", "in response to determining", "when detecting (stated condition or event)", or "in response to detecting (stated condition or event)".

[0057] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the commodity or device comprising said element.

[0058] It should be particularly noted that symbols and / or numbers present in the specification that are not marked in the figure description are not figure reference numerals.

[0059] The optional embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0060] Embodiment 1

[0061] For the embodiments provided by the present disclosure, namely embodiments of a method for bypassing obstacles.

[0062] Below in conjunction with Figure 1 The embodiments of the present disclosure will be described in detail.

[0063] Step S101, during the process of the driverless low-speed vehicle traveling along the navigation route, surrounding perception information is obtained through a variety of sensors.

[0064] The designed speed of the driverless low-speed vehicle is 5 km / h to 25 km / h.

[0065] The perception information is a set of information collected by a variety of sensors provided on the driverless low-speed vehicle about the surrounding of the vehicle. For example, the image information of the surrounding of the vehicle collected by a camera, the frame point cloud of the surrounding of the vehicle collected by a lidar, and the positioning information collected by a global navigation satellite system.

[0066] Step S102, if obstacle information of at least one obstacle in front of the driverless low-speed vehicle can be obtained based on the perception information, then it is determined whether it is necessary to bypass the at least one obstacle based on the obstacle information of the at least one obstacle.

[0067] In front of the driverless low-speed vehicle means in front when the driverless low-speed vehicle travels along the navigation route. The obstacle refers to a moving object or a fixed object that hinders the driverless low-speed vehicle from traveling along the navigation route. There may be an obstacle group formed by multiple obstacles near the same position, blocking the normal travel of the driverless low-speed vehicle.

[0068] The obstacle information at least includes: the positioning information of the obstacle, the width information of the obstacle, and the moving speed value of the obstacle along the navigation route direction.

[0069] The driverless low-speed vehicle obtains its own positioning information through the Global Navigation Satellite System. The width information of the obstacle, as well as the distance value and azimuth value from the obstacle to the driverless low-speed vehicle, can be obtained through the frame point cloud collected by the lidar. The positioning information of the obstacle can be calculated and determined through its own positioning information and the distance value and azimuth value from the obstacle. At the same time, through two frame point clouds collected by the lidar, the relative speed value of the obstacle relative to the driverless low-speed vehicle in the navigation route direction can be obtained, and the moving speed value of the obstacle along the navigation route direction can be obtained through the relative speed and the driving speed of the driverless low-speed vehicle. When the at least one obstacle is in a stationary state, the relative speed value is equal to the moving speed value; when the at least one obstacle is in a moving state, the relative speed value is not equal to the moving speed value.

[0070] In some specific embodiments, determining whether to bypass the at least one obstacle based on the obstacle information of the at least one obstacle includes the following steps:

[0071] Step S102-1, determining the first positioning information of the nearest traffic signal on the navigation route behind the at least one obstacle based on a preset three-dimensional electronic map.

[0072] The preset three-dimensional electronic map can be a three-dimensional electronic map with any precision. The preset three-dimensional electronic map includes the navigation information of the driverless low-speed vehicle. The navigation information at least includes the navigation route and the positioning information of the traffic signals at each intersection on the navigation route.

[0073] Since the obstacle information of the at least one obstacle includes the positioning information of the at least one obstacle, that is, the second positioning information. Since the at least one obstacle is blocking the path of the driverless low-speed vehicle along the navigation route, therefore, the second positioning information is also near the navigation route. Using the second positioning information as the starting position, find the nearest traffic signal on the navigation route to the second positioning information, and the positioning information of this traffic signal is the second positioning information.

[0074] Step S102-2, determining the first driving distance value of the navigation route based on the second positioning information and the first positioning information in the obstacle information of the at least one obstacle.

[0075] The first driving distance value is the path distance that the driverless low-speed vehicle travels along the navigation route, rather than the straight-line distance.

[0076] Step S102-3a, when the first driving distance value is greater than the preset traffic signal distance threshold, it is determined that the at least one obstacle needs to be bypassed.

[0077] The preset traffic signal distance threshold is an empirical value.

[0078] When the first travel distance value is greater than a preset traffic signal distance threshold, it indicates that the at least one obstacle is not queuing for the traffic signal release information. Therefore, it can be determined that it is necessary to bypass the at least one obstacle.

[0079] In some other specific embodiments, when the first travel distance value is greater than the preset traffic signal distance threshold and it is determined that it is necessary to bypass the at least one obstacle, the method includes the following steps:

[0080] Step S102-3a-A, when the first travel distance value is greater than the preset traffic signal distance threshold and when the moving speed value of the obstacle information along the navigation route direction is less than or equal to a preset speed threshold, it is determined that it is necessary to bypass the at least one obstacle.

[0081] When the preset speed threshold is equal to zero, the at least one obstacle is in a completely stationary state.

[0082] When it is determined that the at least one obstacle is not queuing for the traffic signal release information, obtain the moving speed value of the at least one obstacle shown in the obstacle information along the navigation route direction.

[0083] When the moving speed value of the obstacle information along the navigation route direction is less than or equal to the preset speed threshold, it indicates that the moving speed value of the at least one obstacle in the navigation route direction is too low, which hinders the driving efficiency of the low-speed unmanned vehicle. Therefore, it can be determined that it is necessary to bypass the at least one obstacle.

[0084] In some other specific embodiments, the method further includes the following steps:

[0085] Step S102-3a-B, when the first travel distance value is greater than the preset traffic signal distance threshold and when the moving speed value in the obstacle information is greater than the preset speed threshold, follow the at least one obstacle along the navigation route.

[0086] When it is determined that the at least one obstacle is not queuing for the traffic signal release information, obtain the moving speed value of the at least one obstacle shown in the obstacle information along the navigation route direction.

[0087] When the moving speed value in the obstacle information is greater than the preset speed threshold, it indicates that the moving speed value of the at least one obstacle in the navigation route direction meets the requirement of the driving speed of the low-speed unmanned vehicle. Therefore, it is not necessary to bypass the at least one obstacle, but to follow the at least one obstacle along the navigation route.

[0088] In some specific embodiments, after determining the first driving distance value of the navigation route, the following steps are further included:

[0089] Step S102-3b, when the first driving distance value is less than or equal to a preset traffic signal distance threshold, drive following the at least one obstacle according to the navigation route.

[0090] When the first driving distance value is less than or equal to a preset traffic signal distance threshold, it indicates that the at least one obstacle is a vehicle queuing for the traffic signal release information. Therefore, it is not necessary to bypass the at least one obstacle, but to follow the vehicle according to the navigation route and queue for the traffic signal release information.

[0091] Step S103, when it is determined that the at least one obstacle needs to be bypassed, generate a detour path around the at least one obstacle based on the obstacle information of the at least one obstacle and the perception information.

[0092] In some specific embodiments, the generating a detour path around the at least one obstacle based on the obstacle information of the at least one obstacle and the perception information includes the following steps:

[0093] Step S103-1, obtain the lane line information of the lane lines on both sides of the lane where the driverless low-speed vehicle is located based on the image information in the perception information.

[0094] The image information in the perception information comes from the camera in the driverless low-speed vehicle. The camera can collect the image information around the vehicle.

[0095] The driverless low-speed vehicle travels according to the lane, and there are lane lines on both sides of the lane it travels. The lane lines include dotted lines and solid lines. The driverless low-speed vehicle can cross the dotted line to change lanes from one lane to another. However, the driverless low-speed vehicle cannot cross the solid line to change lanes from one lane to another.

[0096] Step S103-2a, when it is determined that the lane line information on either side of the lane is preset dotted line information, generate a detour path around the at least one obstacle through the lane line on that side based on the obstacle information of the at least one obstacle.

[0097] If it is determined that the at least one obstacle needs to be bypassed and it is determined that the lane line of at least one side of the driverless low-speed vehicle is a dotted line, then generate a detour path around the at least one obstacle through the lane line on that side.

[0098] In some other specific embodiments, after acquiring the lane line information of the lane where the unmanned low-speed vehicle is located based on the image information in the perception information, the following steps are also included:

[0099] Step S103-2b, when it is determined that the lane line information on both sides of the lane are preset solid line information, the vehicle drives to the at least one obstacle according to the navigation route and stops, and calls for manual intervention.

[0100] If it is determined that the at least one obstacle needs to be bypassed, and it is determined that the lane lines on both sides of the unmanned low-speed vehicle are solid lines, the vehicle stops and waits after driving to the at least one obstacle according to the navigation route, and calls for manual intervention.

[0101] Step S104: bypass the at least one obstacle based on the bypass path.

[0102] In some specific embodiments, the method further comprises the following steps:

[0103] Step S105: After bypassing the at least one obstacle based on the bypass path, returning to the navigation route to continue driving.

[0104] The disclosed embodiment obtains surrounding perception information through multiple sensors, obtains obstacle information of at least one obstacle in front of the unmanned low-speed vehicle through the perception information, and determines whether to bypass the at least one obstacle through the perception information and the obstacle information. It avoids excessive reliance on images, reduces the interference of external environmental factors on images, ensures the stability of information recognition, and reduces the incidence of missed detection. It avoids uncivilized behavior of not queuing and traffic jams caused by random detours. It improves the road traffic capacity and average speed of unmanned low-speed vehicles.

[0105] Example 2

[0106] The present disclosure also provides an apparatus embodiment that is consistent with the above-mentioned embodiment, and is used to implement the method steps described in the above-mentioned embodiment. The explanation based on the same name meaning is the same as that of the above-mentioned embodiment, and has the same technical effect as that of the above-mentioned embodiment, and will not be repeated here.

[0107] like Figure 2 As shown, the present disclosure provides a device 200 for bypassing obstacles, comprising:

[0108] An acquisition unit 201 is used to acquire surrounding perception information through multiple sensors when the unmanned low-speed vehicle is driving along the navigation route;

[0109] A determination unit 202, configured to determine whether it is necessary to bypass at least one obstacle in front of the unmanned low-speed vehicle based on the obstacle information of the at least one obstacle if the obstacle information of at least one obstacle in front of the unmanned low-speed vehicle can be obtained based on the sensing information;

[0110] A generation unit 203, configured to generate a detour path around the at least one obstacle based on the obstacle information of the at least one obstacle and the sensing information when it is determined that it is necessary to bypass the at least one obstacle;

[0111] A detour unit 204, configured to bypass the at least one obstacle based on the detour path.

[0112] Optionally, the determination unit 202 includes:

[0113] A first determination subunit, configured to determine first positioning information of the nearest traffic signal on the navigation route behind the at least one obstacle based on a preset three-dimensional electronic map;

[0114] A second determination subunit, configured to determine a first driving distance value of the navigation route based on second positioning information in the obstacle information of the at least one obstacle and the first positioning information;

[0115] A third determination subunit, configured to determine that it is necessary to bypass the at least one obstacle when the first driving distance value is greater than a preset traffic signal distance threshold.

[0116] Optionally, the determination unit 202 further includes:

[0117] A first following subunit, configured to drive following the at least one obstacle along the navigation route when the first driving distance value is less than or equal to the preset traffic signal distance threshold.

[0118] Optionally, the third determination subunit includes:

[0119] A fourth determination subunit, configured to determine that it is necessary to bypass the at least one obstacle when the first driving distance value is greater than the preset traffic signal distance threshold and the movement speed value in the obstacle information along the navigation route direction is less than or equal to a preset speed threshold.

[0120] Optionally, the determination unit 202 further includes:

[0121] A second following subunit, configured to drive following the at least one obstacle along the navigation route when the first driving distance value is greater than the preset traffic signal distance threshold and the movement speed value in the obstacle information is greater than the preset speed threshold.

[0122] Optionally, the generating unit 203 includes:

[0123] An obtaining subunit, configured to obtain lane line information of the lane lines on both sides of the lane where the unmanned low-speed vehicle is located based on the image information in the sensing information;

[0124] A generating subunit, configured to generate a detour path for bypassing the at least one obstacle through the lane line on one side when it is determined that the lane line information of any one side lane is preset dotted line information, based on the obstacle information of the at least one obstacle.

[0125] Optionally, the generating unit 203 further includes:

[0126] A second following subunit, configured to drive to stop after the at least one obstacle according to the navigation route and call for manual intervention when it is determined that the lane line information of the lane lines on both sides of the lane is preset solid line information.

[0127] In the embodiments of the present disclosure, surrounding sensing information is obtained through multiple sensors, obstacle information of at least one obstacle in front of the unmanned low-speed vehicle is obtained through the sensing information, and it is determined whether to bypass the at least one obstacle through the sensing information and the obstacle information. This avoids over-reliance on images, reduces the interference of external environmental factors on images, ensures the stability of information recognition, reduces the occurrence rate of missed detections. It avoids uncivilized behaviors of not queuing and traffic jams caused by random detours. It improves the road passing ability and average vehicle speed of the unmanned low-speed vehicle.

[0128] Embodiment 3

[0129] This embodiment provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps as described in the above embodiments.

[0130] Embodiment 4

[0131] The embodiments of the present disclosure provide a non-volatile computer storage medium, which stores computer-executable instructions that can execute the method steps as described in the above embodiments.

[0132] Finally, it should be noted that the embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0133] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A method for bypassing an obstacle, characterized in that, Including: During the process of an unmanned low-speed vehicle traveling along a navigation route, surrounding perception information is obtained through a variety of sensors; If obstacle information of at least one obstacle in front of the unmanned low-speed vehicle can be obtained based on the perception information, then it is determined whether it is necessary to bypass the at least one obstacle based on the obstacle information of the at least one obstacle; When it is determined that it is necessary to bypass the at least one obstacle, a bypass path for bypassing the at least one obstacle is generated based on the obstacle information of the at least one obstacle and the perception information; Bypass the at least one obstacle based on the bypass path; Among them, the determining whether it is necessary to bypass the at least one obstacle based on the obstacle information of the at least one obstacle includes: determining first positioning information of the nearest traffic signal on the navigation route behind the at least one obstacle based on a preset three-dimensional electronic map; determining a first driving distance value of the navigation route based on the second positioning information in the obstacle information of the at least one obstacle and the first positioning information; when the first driving distance value is greater than a preset traffic signal distance threshold, it is determined that it is necessary to bypass the at least one obstacle; The determining that it is necessary to bypass the at least one obstacle when the first driving distance value is greater than the preset traffic signal distance threshold includes: when the first driving distance value is greater than the preset traffic signal distance threshold, when the movement speed value along the navigation route direction in the obstacle information is less than or equal to a preset speed threshold, it is determined that it is necessary to bypass the at least one obstacle; When the first driving distance value is greater than the preset traffic signal distance threshold and the movement speed value in the obstacle information is greater than the preset speed threshold, follow the at least one obstacle along the navigation route.

2. The method according to claim 1, characterized in that, After determining the first driving distance value of the navigation route, it further includes: When the first driving distance value is less than or equal to the preset traffic signal distance threshold, follow the at least one obstacle along the navigation route.

3. The method according to claim 1, characterized in that, The generating a bypass path for bypassing the at least one obstacle based on the obstacle information of the at least one obstacle and the perception information includes: Obtaining lane line information of the lane lines on both sides of the lane where the unmanned low-speed vehicle is located based on the image information in the perception information; When it is determined that the lane line information of any one side lane is preset dotted line information, a bypass path for bypassing the at least one obstacle through the lane line of the one side is generated based on the obstacle information of the at least one obstacle.

4. The method according to claim 3, characterized in that, After obtaining the lane line information of the lane where the unmanned low-speed vehicle is located based on the image information in the perception information, it further includes: When it is determined that the lane line information of the lane lines on both sides of the lane is preset solid line information, drive along the navigation route to stop after the at least one obstacle, and call for manual intervention.

5. A device for bypassing an obstacle, characterized in that, Implementing the method according to any one of claims 1-4, the device for bypassing obstacles includes: An acquisition unit, configured to obtain surrounding perception information through a variety of sensors during the process of an unmanned low-speed vehicle traveling along a navigation route; A determination unit, configured to determine whether it is necessary to bypass at least one obstacle in front of the unmanned low-speed vehicle based on the obstacle information of the at least one obstacle if the obstacle information of at least one obstacle in front of the unmanned low-speed vehicle can be obtained based on the sensing information; A generation unit, configured to generate a detour path for detouring around the at least one obstacle based on the obstacle information of the at least one obstacle and the sensing information when it is determined that it is necessary to bypass the at least one obstacle; A detouring unit, configured to bypass the at least one obstacle based on the detour path.

6. A computer-readable storage medium, on which a computer program is stored, characterized in that, When the program is executed by a processor, the method described in any one of claims 1 to 4 is implemented.

7. An electronic device, characterized in that, Comprising: One or more processors; A storage device for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any one of claims 1 to 4.

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