An obstacle avoidance method, system, computer device and storage medium

Abstract

The application relates to an obstacle bypassing method, system, computer device and storage medium. The method comprises the following steps: acquiring road condition information and image information of a static obstacle, obtaining a first bypassing path according to the road condition information, determining whether the vehicle will collide with the static obstacle according to the first bypassing path and the image information, obtaining a reverse path and a second bypassing path according to the road condition information in the case that the vehicle will collide with the static obstacle, and controlling the vehicle to drive according to the reverse path and the second bypassing path to bypass the static obstacle. According to the method, when the vehicle is close to the static obstacle, the vehicle first performs a reverse action according to the obtained reverse path, and then performs a second bypassing operation according to the obtained second bypassing path, so that the possibility of collision between the vehicle and the static obstacle in the bypassing process is reduced, and the safety is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous vehicle technology, and in particular to an obstacle avoidance method, system, computer device, and storage medium. Background Technology

[0002] Autonomous vehicles, also known as driverless cars, computer-driven cars, or wheeled mobile robots, are intelligent vehicles that achieve driverless operation through computer systems. Autonomous vehicles rely on the collaborative efforts of artificial intelligence, computer vision, radar, monitoring devices, and global positioning systems to enable computers to automatically and safely operate motor vehicles without any active human intervention.

[0003] Autonomous vehicles use video cameras, radar sensors, and laser rangefinders to understand the surrounding traffic conditions and navigate the road ahead using a detailed map. When an autonomous vehicle encounters obstacles, especially static obstacles, the main control computer provides a detour trajectory, and finally, the steering actuator executes the steering maneuver.

[0004] When an autonomous vehicle is close to an obstacle in front, if it swerves directly to avoid it, it may collide with the obstacle, and its safety needs to be improved. Summary of the Invention

[0005] Based on this, an obstacle avoidance method, system, computer device, and storage medium are provided to improve safety when an autonomous vehicle encounters an obstacle and needs to avoid it.

[0006] On the one hand, an obstacle avoidance method is provided, the method comprising:

[0007] Acquire road condition information and image information of static obstacles; obtain a first detour path based on the road condition information; and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information.

[0008] In the event that the vehicle will collide with the static obstacle, a reversing path and a second detour path are obtained based on the road condition information;

[0009] The vehicle is controlled to travel along the reversing path and the second detour path to avoid the static obstacle.

[0010] In one embodiment, the step of obtaining the reversing route and the second detour route based on the road condition information includes:

[0011] Based on the road condition information, a target location for bypassing the static obstacle is obtained;

[0012] Obtain the current position of the vehicle, and based on the current position and the target position, obtain the reversing path;

[0013] Based on the reversing path, the reversing position of the vehicle is obtained, and based on the target position and the reversing position, the second detour path is obtained.

[0014] In one embodiment, the step of obtaining a first detour route based on the road condition information includes:

[0015] Based on the road condition information, obtain the detour routes available to the vehicle, and obtain the minimum turning radius of the vehicle on the detour routes.

[0016] The first detour path is obtained based on the minimum turning radius.

[0017] In one embodiment, the step of obtaining the minimum turning radius of the vehicle on the detourable road includes:

[0018] The maximum turning angle and wheelbase of the vehicle are obtained. Based on the wheelbase and the maximum turning angle, the minimum turning radius of the vehicle is obtained. The mathematical expression of the minimum turning radius is as follows:

[0019]

[0020] Where R is the minimum turning radius, and L is the wheelbase. This refers to the maximum turning angle.

[0021] In one embodiment, the step of obtaining the first detour route based on the road condition information and the image information further includes:

[0022] Based on the road condition information, a first width is obtained, wherein the first width is the width of the detourable road;

[0023] Obtain the second width, compare the first width and the second width to determine whether the first width is greater than the second width, wherein the second width is the minimum turning width of the vehicle;

[0024] If the first width is greater than the second width, the first detour path is obtained.

[0025] In one embodiment, the step of obtaining the second width includes:

[0026] The first distance is obtained based on the distance between the front axle of the vehicle and the front of the vehicle;

[0027] The second distance is obtained based on the distance between the rear axle of the vehicle and the rear of the vehicle;

[0028] Obtain the minimum turning radius and vehicle length of the vehicle;

[0029] The second width is obtained based on the first distance, the second distance, the minimum turning radius, and the vehicle length.

[0030] In one embodiment, it further includes:

[0031] If the vehicle will not collide with the static obstacle, the vehicle is controlled to travel along the first detour path to bypass the static obstacle.

[0032] On the other hand, an obstacle avoidance system is provided, the system comprising:

[0033] The first path generation module is used to acquire road condition information and image information of static obstacles, obtain a first detour path based on the road condition information, and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information.

[0034] The second path generation module is used to obtain a reversing path and a second detour path based on the road condition information when the vehicle collides with the static obstacle.

[0035] A control module is provided to control the vehicle to travel along the reversing path and the second detour path to avoid the static obstacle.

[0036] In another aspect, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0037] Acquire road condition information and image information of static obstacles; obtain a first detour path based on the road condition information; and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information.

[0038] In the event that the vehicle will collide with the static obstacle, a reversing path and a second detour path are obtained based on the road condition information;

[0039] The vehicle is controlled to travel along the reversing path and the second detour path to avoid the static obstacle.

[0040] In another aspect, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0041] Acquire road condition information and image information of static obstacles; obtain a first detour path based on the road condition information; and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information.

[0042] In the event that the vehicle will collide with the static obstacle, a reversing path and a second detour path are obtained based on the road condition information;

[0043] The vehicle is controlled to travel along the reversing path and the second detour path to avoid the static obstacle.

[0044] The aforementioned obstacle avoidance method, apparatus, computer equipment, and storage medium acquire road condition information and image information of static obstacles. Based on the road condition information, a first detour path is obtained to avoid the static obstacle. Based on the first detour path and the image information, it is determined whether a collision between the vehicle and the static obstacle will occur. If a collision is likely, a reversing path and a second detour path are obtained based on the road condition information. The vehicle is controlled to travel according to the reversing path and the second detour path to avoid the static obstacle. Before the vehicle performs a first detour action according to the first detour path, it is determined whether a collision with the static obstacle will occur. If a collision is likely, the vehicle reverses according to the obtained reversing path and then performs a second detour action according to the obtained second detour path to avoid the static obstacle. When the distance between the vehicle and the static obstacle is relatively close, the possibility of a collision between the vehicle and the static obstacle during the detour is reduced, thereby improving safety. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating an obstacle avoidance method in one embodiment;

[0046] Figure 2 This is a flowchart illustrating the steps for obtaining the reversing path and the second detour path in one embodiment.

[0047] Figure 3 This is a flowchart illustrating the steps for obtaining the first detour path in one embodiment;

[0048] Figure 4 This is a flowchart illustrating the step of obtaining the first detour path in another embodiment;

[0049] Figure 5 This is a flowchart illustrating the step of obtaining the second width in one embodiment;

[0050] Figure 6This is a structural block diagram of an obstacle avoidance system in one embodiment;

[0051] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components relevant to the present invention and are not drawn according to the actual number, shape, and size of components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may be more complex. The structures, proportions, and sizes shown in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives of the present invention, should still fall within the scope of the technical content disclosed in the present invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are only for clarity of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the present invention.

[0054] When autonomous vehicles encounter obstacles during operation, if the obstacle is a static obstacle, such as a malfunctioning vehicle or a landslide, the main control computer in the autonomous vehicle needs to provide a detour trajectory, and then the steering actuator will execute the steering action according to the detour trajectory. However, when the distance between the autonomous vehicle and the static obstacle is close, if the steering action is directly executed to detour, there is a possibility that the autonomous vehicle will collide with the obstacle in front. Therefore, the safety of autonomous vehicles when detouring around obstacles needs to be improved.

[0055] To address this, this application proposes an obstacle avoidance method. Based on acquired road condition information, a first detour path is obtained to bypass a static obstacle. Before the vehicle executes a first detour along the first detour path, it is determined whether the vehicle will collide with the static obstacle. If a collision is likely, a reversing path and a second detour path are obtained based on the road condition information. The vehicle is then controlled to reverse along the obtained reversing path and then execute a second detour along the obtained second detour path to bypass the static obstacle. When the vehicle is close to the static obstacle, the likelihood of a collision during detour is reduced, thereby improving safety.

[0056] In one embodiment, such as Figure 1 As shown, an obstacle avoidance method is provided, including the following steps:

[0057] S1: Obtain road condition information and image information of static obstacles; obtain a first detour path based on the road condition information; and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information.

[0058] It should be noted that the acquired road condition information includes, but is not limited to, road information, traffic light information, and pedestrian information on the road. Based on the acquired road condition information, a first detour path is obtained to bypass the static obstacle. To reduce the possibility of collision during the detour, before controlling the vehicle to perform the detour action according to the first detour path, the outline information of the static obstacle is obtained based on the image information of the static obstacle. By determining whether the outline information intersects with the first detour path, it is determined whether the vehicle will collide with the static obstacle. If the outline information intersects with the first detour path, it is determined that the vehicle will collide with the static obstacle; otherwise, a collision will not occur.

[0059] The reason for using the outline information of the static obstacle to determine whether the static obstacle will collide with the vehicle is that: since there are many types of static obstacles, for example, when the static obstacle includes a large trailer, by obtaining the outline information of the large trailer, it can be determined whether the trailer of the large trailer intersects with the first detour path. If so, it is determined that the vehicle and the large trailer will collide; otherwise, a collision will not occur. Therefore, by obtaining the outline information of the static obstacle, the accuracy of determining whether the vehicle and the static obstacle will collide is relatively high.

[0060] As a specific implementation of the aforementioned step of obtaining the first detour path, road condition information and image information of static obstacles can be collected by a lidar sensor. An occupancy grid map (OGM) can be constructed based on the collected road condition information and image information. A drivable path can be obtained through the occupancy grid map. Based on the drivable path and obstacle information, a first detour path on the drivable path can be obtained through spiral curves, Bézier curves, spline curves, or growth curves.

[0061] S2: In the event that the vehicle will collide with the static obstacle, obtain a reversing path and a second detour path based on the road condition information;

[0062] S3: Control the vehicle to travel along the reversing path and the second detour path to avoid the static obstacle.

[0063] Specifically, in the event that the vehicle will collide with the static obstacle, based on the road condition information, a reversing path and a second detour path are obtained through the Hybrid Astar algorithm. The vehicle is then controlled to reverse according to the reversing path and then to turn according to the second detour path, thereby avoiding the static obstacle and effectively preventing the vehicle from colliding with the static obstacle during the detour, thus improving safety.

[0064] In one implementation, if the vehicle will not collide with the static obstacle, the vehicle is controlled to travel along the first detour path to bypass the static obstacle.

[0065] The aforementioned obstacle avoidance method, apparatus, computer equipment, and storage medium acquire road condition information and image information of static obstacles. Based on the road condition information, a first detour path is obtained to avoid the static obstacle. Based on the first detour path and the image information, it is determined whether a collision between the vehicle and the static obstacle will occur. If a collision is likely, a reversing path and a second detour path are obtained based on the road condition information. The vehicle is controlled to travel according to the reversing path and the second detour path to avoid the static obstacle. Before the vehicle performs a first detour operation according to the first detour path, it is determined whether a collision with the static obstacle will occur. If a collision is likely, the vehicle reverses according to the obtained reversing path and then performs a second detour operation according to the obtained second detour path to avoid the static obstacle. When the distance between the vehicle and the static obstacle is relatively close, the possibility of a collision between the vehicle and the static obstacle during the detour is reduced, thereby improving safety.

[0066] As a specific implementation of the foregoing embodiments, in one implementation, such as Figure 2 As shown, the step of obtaining the reversing route and the second detour route based on the road condition information includes:

[0067] S201: Based on the road condition information, obtain the target position for bypassing the static obstacle;

[0068] S202: Obtain the current position of the vehicle, and obtain the reversing path based on the current position and the target position;

[0069] S203: Based on the reversing path, obtain the reversing position of the vehicle, and based on the target position and the reversing position, obtain the second detour path.

[0070] It should be noted that, based on the road condition information, the drivable path and the target position on the drivable path are obtained through the OGM, that is, the position where the vehicle can bypass the static obstacle; assuming that the direction from the vehicle to the static obstacle is taken as the reference direction, the target position may be to the left of the static obstacle or to the right of the static obstacle, and accordingly, the vehicle detours from the direction where the target position is located.

[0071] Based on the obtained current position and the target position, the reversing path is obtained using a hybrid A* algorithm. Then, the reversing position reached by the vehicle following the reversing path is obtained. Based on the reversing position and the target position, a second detour path is obtained using the hybrid A* algorithm. During the execution of the hybrid A* algorithm, the vehicle's body outline information and the outline information of the static obstacle are obtained. It is determined whether the vehicle's body outline information and the outline information of the static obstacle intersect, thereby determining whether a collision will occur between the vehicle and the static obstacle. If no collision will occur, the reversing path and the second detour path are generated. If a collision will occur, the originally calculated second detour path is discarded, and the algorithm is re-executed until a second detour path that prevents the vehicle from colliding with the static obstacle is obtained.

[0072] As a specific implementation of the foregoing embodiments, in one implementation, such as Figure 3 As shown, the step of obtaining the first detour route based on the road condition information includes:

[0073] S101: Based on the road condition information, obtain the detour route for the vehicle, and obtain the minimum turning radius of the vehicle on the detour route;

[0074] S102: Obtain the first detour path based on the minimum turning radius.

[0075] It should be noted that the minimum turning radius refers to the radius of the circle traced by the center of the outer steering wheel on the supporting plane when the vehicle is turned to its extreme position and traveling at its lowest stable speed. It largely characterizes the vehicle's ability to traverse narrow, winding areas or bypass insurmountable obstacles. Considering the relatively close distance between the vehicle and the static obstacle, obtaining the minimum turning radius of the vehicle on the detourable road allows for the determination of the corresponding first detour path, further improving the safety of vehicle detours.

[0076] As a specific implementation of the foregoing embodiments, in one embodiment, the step of obtaining the minimum turning radius of the vehicle on the detourable road includes:

[0077] S1011: Obtain the maximum turning angle and wheelbase of the vehicle. Based on the wheelbase and the maximum turning angle, obtain the minimum turning radius of the vehicle. The mathematical expression for the minimum turning radius is:

[0078]

[0079] Where R is the minimum turning radius, and L is the wheelbase. This refers to the maximum turning angle.

[0080] Preferably, in one embodiment, such as Figure 4 As shown, the step of obtaining the first detour route based on the road condition information and the image information further includes:

[0081] S111: Based on the road condition information, obtain a first width, wherein the first width is the width of the detourable road;

[0082] S112: Obtain the second width, compare the first width and the second width, and determine whether the first width is greater than the second width, wherein the second width is the minimum turning width of the vehicle;

[0083] S113: If the first width is greater than the second width, obtain the first detour path.

[0084] Based on the road condition information, the first width, i.e. the width of the detour road, is obtained. Specifically, it can be obtained by measurement using a lidar sensor. The second width, i.e. the minimum turning width required by the vehicle, is obtained. The first width and the second width are compared. If the first width is greater than or equal to the second width, i.e. the width of the detour road meets the minimum turning width required by the vehicle to detour, the first detour path is obtained.

[0085] Otherwise, if the width of the detourable road does not meet the minimum turning width required for the vehicle to detour, detour is not possible. In this case, the vehicle can be controlled to reverse. During reversing, the road width is continuously acquired and compared with the second width until the road width meets the minimum turning width required for the vehicle to detour. At this point, the reversing operation stops, and then, based on the acquired road condition information, the vehicle detours from the right rear or left rear of the static obstacle (with the vehicle's forward direction as the reference direction). Furthermore, before and during reversing, an OGM (Optical General View) can be constructed to collect road condition and obstacle information behind the vehicle (with the vehicle's forward direction as the reference direction). Based on this road condition and obstacle information, it can be determined whether the reversing conditions are met. The reversing path and detour path can be obtained using a hybrid A* algorithm. Therefore, by determining whether the width of the detourable road meets the minimum turning width required for the vehicle to detour, the safety of the vehicle's detour can be further improved.

[0086] It should be noted that, in the event that the vehicle will collide with the static obstacle, although it is confirmed whether the width of the detour road meets the road width required for the vehicle to detour before obtaining the first detour path, since the second detour path is also obtained based on the detour road, when the step of obtaining the second detour path is subsequently executed, it is assumed that the first width is greater than or equal to the second width, that is, the width of the detour path meets the minimum turning width required for the vehicle to detour, and there is no need to determine the width condition again.

[0087] As a specific implementation of the foregoing embodiments, in one implementation, such as Figure 5 As shown, the step of obtaining the second width includes:

[0088] S1121: Obtain a first distance based on the distance between the front axle of the vehicle and the front of the vehicle;

[0089] S1122: Obtain the second distance based on the distance between the rear axle of the vehicle and the rear of the vehicle;

[0090] S1123: Obtain the minimum turning radius and vehicle length of the vehicle;

[0091] S1124: Obtain the second width based on the first distance, the second distance, the minimum turning radius, and the vehicle length.

[0092] It should be noted that the minimum turning radius of the vehicle is obtained through the aforementioned step S1011, and will not be repeated here; the vehicle body length is a parameter of the vehicle and can be obtained directly.

[0093] As a preferred embodiment of the foregoing, controlling the vehicle to turn along the first detour path corresponding to the minimum turning radius results in a poor passenger experience, and the turning angle required for the vehicle is also relatively large, making operation inconvenient. If the vehicle will not collide with the static obstacle, the vehicle's turning angle is reduced by a preset adjustment value. Based on the vehicle's current turning angle and wheelbase, the mathematical expression in step S1011 is executed to obtain the vehicle's turning radius. Based on the turning radius, a turning path is obtained. By determining whether the turning path intersects with the outline of the static obstacle, it is determined whether the vehicle will collide with the static obstacle. If so, the previous turning radius that will not collide is obtained, and the corresponding turning path is obtained. The vehicle is controlled to detour around the static obstacle according to the turning path. If not, the vehicle's turning angle is reduced by the preset adjustment value again, and the corresponding turning radius is obtained. The corresponding turning path is obtained again, and it is determined whether the vehicle will collide with the static obstacle until a collision occurs. The previous turning radius that will not collide and the corresponding turning path are obtained, and the vehicle is controlled to detour around the static obstacle according to the currently obtained turning path.

[0094] Through the aforementioned implementation method, when the vehicle will not collide with the static obstacle, the critical turning angle at which the vehicle will not collide with the static obstacle is found by gradually adjusting the turning angle of the vehicle. The corresponding turning radius is obtained based on the critical turning angle, and the corresponding critical turning path is obtained based on the turning radius. The vehicle is controlled to detour according to the critical turning path, which not only improves the passenger experience but also reduces the vehicle's turning angle and improves the convenience of operation.

[0095] It should be understood that, although Figure 1-5 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1-5 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0096] In one embodiment, such as Figure 6As shown, an obstacle avoidance system is provided, including: a first path generation module, a second path generation module, and a control module, wherein:

[0097] The first path generation module is used to acquire road condition information and image information of static obstacles, obtain a first detour path based on the road condition information, and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information.

[0098] The second path generation module is used to obtain a reversing path and a second detour path based on the road condition information when the vehicle collides with the static obstacle.

[0099] A control module is used to control the vehicle to travel along the reversing path and the second detour path to avoid the static obstacle.

[0100] It should be noted that the first path generation module may include a construction submodule, which can communicate with a lidar sensor and a camera. By receiving road condition information collected by the lidar sensor and image information of static obstacles collected by the camera, it constructs an occupancy grid map (OGM) and obtains a drivable path on the road using the occupancy grid map. The first path generation module may also include a first path generation submodule, which can obtain a first detour path on the drivable path using a spiral curve, Bézier curve, spline curve, or growth curve, etc. The first path generation module determines whether the vehicle will collide with the static obstacle by determining whether the obtained first detour path intersects with the outline information of the static obstacle.

[0101] The second path generation module may include a second path generation submodule. In the event of a collision between the vehicle and the static obstacle, the second path generation submodule can obtain the reversing path and the second detour path based on the acquired road condition information by executing a Hybrid Astar algorithm. The control module may include an Electronic Control Unit (ECU). The ECU's input interface receives the reversing path and the second detour path obtained in the preceding steps. Through the coordinated action of a microcontroller unit (MCU), an analog-to-digital converter, and large-scale integrated circuits for shaping and driving, the ECU controls the vehicle to perform actions such as reversing, turning, moving forward, and speed adjustment according to the reversing path and the second detour path, thereby completing the detour around the static obstacle. When the distance between the vehicle and the static obstacle is relatively close, the possibility of a collision during the detour is reduced, thereby improving safety.

[0102] In one implementation, when the vehicle will not collide with the static obstacle, the input interface of the electronic control unit receives the first detour path obtained in the aforementioned steps, and through the coordinated action of the microcontroller, analog-to-digital converter, and large-scale integrated circuits such as shaping and driving, controls the vehicle to perform actions such as steering, forward movement, and speed adjustment according to the first detour path, thereby completing the detour around the static obstacle.

[0103] As a specific implementation of the foregoing embodiments, in one implementation, the step of the second path generation module obtaining the reversing path and the second detour path based on the road condition information includes:

[0104] Based on the road condition information, a target location for bypassing the static obstacle is obtained;

[0105] Obtain the current position of the vehicle, and based on the current position and the target position, obtain the reversing path;

[0106] Based on the reversing path, the reversing position of the vehicle is obtained, and based on the target position and the reversing position, the second detour path is obtained.

[0107] As a specific implementation of the foregoing embodiments, in one implementation, the step of the first path generation module obtaining the first detour path based on the road condition information includes:

[0108] Based on the road condition information, obtain the detour routes available to the vehicle, and obtain the minimum turning radius of the vehicle on the detour routes.

[0109] The first detour path is obtained based on the minimum turning radius.

[0110] As a specific implementation of the foregoing embodiments, in one implementation, the step of the first path generation module obtaining the minimum turning radius of the vehicle on the detourable road includes:

[0111] The maximum turning angle and wheelbase of the vehicle are obtained. Based on the wheelbase and the maximum turning angle, the minimum turning radius of the vehicle is obtained. The mathematical expression of the minimum turning radius is as follows:

[0112]

[0113] Where R is the minimum turning radius, and L is the wheelbase. This refers to the maximum turning angle.

[0114] Preferably, in one embodiment, the step of the first path generation module obtaining a first detour path based on the road condition information and the image information further includes:

[0115] Based on the road condition information, a first width is obtained, wherein the first width is the width of the detourable road;

[0116] Obtain the second width, compare the first width and the second width to determine whether the first width is greater than the second width, wherein the second width is the minimum turning width of the vehicle;

[0117] If the first width is greater than the second width, the first detour path is obtained.

[0118] As a specific implementation of the foregoing embodiments, in one implementation, the step of the first path generation module obtaining the second width includes:

[0119] The first distance is obtained based on the distance between the front axle of the vehicle and the front of the vehicle;

[0120] The second distance is obtained based on the distance between the rear axle of the vehicle and the rear of the vehicle;

[0121] Obtain the minimum turning radius and vehicle length of the vehicle;

[0122] The second width is obtained based on the first distance, the second distance, the minimum turning radius, and the vehicle length.

[0123] Specific limitations regarding the obstacle detour system can be found in the limitations on obstacle detour methods described above, and will not be repeated here. Each module in the aforementioned obstacle detour system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0124] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When executed by the processor, the computer program implements an obstacle avoidance method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0125] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0126] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0127] S1: Obtain road condition information and image information of static obstacles; obtain a first detour path based on the road condition information; and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information.

[0128] S2: In the event that the vehicle will collide with the static obstacle, obtain a reversing path and a second detour path based on the road condition information;

[0129] S3: Control the vehicle to travel along the reversing path and the second detour path to avoid the static obstacle.

[0130] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0131] The step of obtaining the reversing route and the second detour route based on the road condition information includes:

[0132] S201: Based on the road condition information, obtain the target position for bypassing the static obstacle;

[0133] S202: Obtain the current position of the vehicle, and obtain the reversing path based on the current position and the target position;

[0134] S203: Based on the reversing path, obtain the reversing position of the vehicle, and based on the target position and the reversing position, obtain the second detour path.

[0135] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0136] The step of obtaining the first detour route based on the road condition information includes:

[0137] S101: Based on the road condition information, obtain the detour route for the vehicle, and obtain the minimum turning radius of the vehicle on the detour route;

[0138] S102: Obtain the first detour path based on the minimum turning radius.

[0139] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0140] The step of obtaining the minimum turning radius of the vehicle on the detourable road includes:

[0141] S1011: Obtain the maximum turning angle and wheelbase of the vehicle. Based on the wheelbase and the maximum turning angle, obtain the minimum turning radius of the vehicle. The mathematical expression for the minimum turning radius is:

[0142]

[0143] Where R is the minimum turning radius, and L is the wheelbase. This refers to the maximum turning angle.

[0144] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0145] The step of obtaining the first detour route based on the road condition information and the image information further includes:

[0146] S111: Based on the road condition information, obtain a first width, wherein the first width is the width of the detourable road;

[0147] S112: Obtain the second width, compare the first width and the second width, and determine whether the first width is greater than the second width, wherein the second width is the minimum turning width of the vehicle;

[0148] S113: If the first width is greater than the second width, obtain the first detour path.

[0149] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0150] The step of obtaining the second width includes:

[0151] S1121: Obtain a first distance based on the distance between the front axle of the vehicle and the front of the vehicle;

[0152] S1122: Obtain the second distance based on the distance between the rear axle of the vehicle and the rear of the vehicle;

[0153] S1123: Obtain the minimum turning radius and vehicle length of the vehicle;

[0154] S1124: Obtain the second width based on the first distance, the second distance, the minimum turning radius, and the vehicle length.

[0155] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0156] S4: If the vehicle will not collide with the static obstacle, control the vehicle to travel along the first detour path to bypass the static obstacle.

[0157] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0158] S1: Obtain road condition information and image information of static obstacles; obtain a first detour path based on the road condition information; and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information.

[0159] S2: In the event that the vehicle will collide with the static obstacle, obtain a reversing path and a second detour path based on the road condition information;

[0160] S3: Control the vehicle to travel along the reversing path and the second detour path to avoid the static obstacle.

[0161] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0162] The step of obtaining the reversing route and the second detour route based on the road condition information includes:

[0163] S201: Based on the road condition information, obtain the target position for bypassing the static obstacle;

[0164] S202: Obtain the current position of the vehicle, and obtain the reversing path based on the current position and the target position;

[0165] S203: Based on the reversing path, obtain the reversing position of the vehicle, and based on the target position and the reversing position, obtain the second detour path.

[0166] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0167] The step of obtaining the first detour route based on the road condition information includes:

[0168] S101: Based on the road condition information, obtain the detour route for the vehicle, and obtain the minimum turning radius of the vehicle on the detour route;

[0169] S102: Obtain the first detour path based on the minimum turning radius.

[0170] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0171] The step of obtaining the minimum turning radius of the vehicle on the detourable road includes:

[0172] S1011: Obtain the maximum turning angle and wheelbase of the vehicle. Based on the wheelbase and the maximum turning angle, obtain the minimum turning radius of the vehicle. The mathematical expression for the minimum turning radius is:

[0173]

[0174] Where R is the minimum turning radius, and L is the wheelbase. This refers to the maximum turning angle.

[0175] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0176] The step of obtaining the first detour route based on the road condition information and the image information further includes:

[0177] S111: Based on the road condition information, obtain a first width, wherein the first width is the width of the detourable road;

[0178] S112: Obtain the second width, compare the first width and the second width, and determine whether the first width is greater than the second width, wherein the second width is the minimum turning width of the vehicle;

[0179] S113: If the first width is greater than the second width, obtain the first detour path.

[0180] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0181] The step of obtaining the second width includes:

[0182] S1121: Obtain a first distance based on the distance between the front axle of the vehicle and the front of the vehicle;

[0183] S1122: Obtain the second distance based on the distance between the rear axle of the vehicle and the rear of the vehicle;

[0184] S1123: Obtain the minimum turning radius and vehicle length of the vehicle;

[0185] S1124: Obtain the second width based on the first distance, the second distance, the minimum turning radius, and the vehicle length.

[0186] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0187] S4: If the vehicle will not collide with the static obstacle, control the vehicle to travel along the first detour path to bypass the static obstacle.

[0188] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0189] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0190] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for bypassing obstacles, characterized in that, include: Acquire road condition information and image information of static obstacles; obtain a first detour path based on the road condition information; and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information. If the vehicle will not collide with the static obstacle, the vehicle is controlled to travel along the first detour path to bypass the static obstacle. In the event that the vehicle will collide with the static obstacle, a target position for bypassing the static obstacle is obtained based on the road condition information. The current position of the vehicle is obtained, and a reversing path is obtained using a hybrid A* algorithm based on the obtained current position and the target position. Then, the reversing position reached by the vehicle following the reversing path is obtained, and a second detour path is obtained using a hybrid A* algorithm based on the reversing position and the target position. During the execution of the hybrid A* algorithm, the outline information of the vehicle body and the outline information of the static obstacle are obtained, and it is determined whether the outline information of the vehicle body and the outline information of the static obstacle intersect, thereby determining whether the vehicle will collide with the static obstacle. If no collision will occur, the reversing path and the second detour path are generated. The vehicle is controlled to drive according to the reversing path and the second detour path to bypass the static obstacle. If a collision occurs, the originally calculated second detour path is abandoned, and the algorithm is re-executed until a second detour path is obtained that prevents the vehicle from colliding with the static obstacle.

2. The obstacle avoidance method according to claim 1, characterized in that, The step of obtaining the first detour route based on the road condition information includes: Based on the road condition information, obtain the detour routes available to the vehicle, and obtain the minimum turning radius of the vehicle on the detour routes. The first detour path is obtained based on the minimum turning radius.

3. The obstacle avoidance method according to claim 2, characterized in that, The step of obtaining the minimum turning radius of the vehicle on the detourable road includes: The maximum turning angle and wheelbase of the vehicle are obtained. Based on the wheelbase and the maximum turning angle, the minimum turning radius of the vehicle is obtained. The mathematical expression of the minimum turning radius is as follows: Where R is the minimum turning radius, and L is the wheelbase of the vehicle. This refers to the maximum turning angle.

4. The obstacle avoidance method according to claim 2, characterized in that, The step of obtaining the first detour route based on the road condition information and the image information further includes: Based on the road condition information, a first width is obtained, wherein the first width is the width of the detourable road; Obtain the second width, compare the first width and the second width to determine whether the first width is greater than the second width, wherein the second width is the minimum turning width of the vehicle; If the first width is greater than the second width, the first detour path is obtained.

5. The obstacle avoidance method according to claim 4, characterized in that, The step of obtaining the second width includes: The first distance is obtained based on the distance between the front axle of the vehicle and the front of the vehicle; The second distance is obtained based on the distance between the rear axle of the vehicle and the rear of the vehicle; Obtain the minimum turning radius and vehicle length of the vehicle; The second width is obtained based on the first distance, the second distance, the minimum turning radius, and the vehicle length.

6. An obstacle avoidance system, characterized in that, include: The first path generation module is used to acquire road condition information and image information of static obstacles, obtain a first detour path based on the road condition information, and determine whether the vehicle will collide with the static obstacle based on the first detour path and the image information. The second path generation module is used to, in the event that the vehicle will collide with the static obstacle, obtain a target position for bypassing the static obstacle based on the road condition information, obtain the current position of the vehicle based on the obtained current position and the target position, obtain a reversing path based on the current position and the target position using a hybrid A* algorithm, obtain the parking position reached by the vehicle following the reversing path, and obtain a second detour path based on the parking position and the target position using a hybrid A* algorithm. During the execution of the hybrid A* algorithm, the vehicle body contour information and the contour information of the static obstacle are obtained, and it is determined whether the vehicle body contour information and the contour information of the static obstacle have an intersection point, thereby determining whether the vehicle will collide with the static obstacle. If no collision will occur, the reversing path and the second detour path are generated; the vehicle is controlled to drive according to the reversing path and the second detour path to avoid the static obstacle. If a collision occurs, the originally calculated second detour path is abandoned, and the algorithm is re-executed until a second detour path is obtained that prevents the vehicle from colliding with the static obstacle. A control module is provided to control the vehicle to travel along the reversing path and the second detour path to avoid the static obstacle.

7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the obstacle avoidance method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the obstacle avoidance method according to any one of claims 1 to 5.

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