Vehicle obstacle avoidance method and device, electronic equipment and readable storage medium

Abstract

The application belongs to the technical field of intelligent driving, and discloses a vehicle obstacle avoidance method and device, an electronic device and a readable storage medium. The vehicle obstacle avoidance method comprises the following steps: obtaining a target arrival direction of a vehicle to a target point; taking the target arrival direction as a direction lookup starting point, and looking up an advancing direction of the vehicle that meets an obstacle avoidance condition according to lookup radius information of the vehicle and obstacle information of the vehicle, wherein the lookup radius information comprises a vehicle position and an obstacle avoidance radius; and controlling the vehicle to move according to the advancing direction and the obstacle avoidance radius. The application aims to solve the technical problem of low efficiency of vehicle obstacle avoidance and advancing in a narrow environment.

Description

Technical Field

[0001] This application belongs to the field of intelligent driving technology and relates to a vehicle obstacle avoidance method, device, electronic device and readable storage medium. Background Technology

[0002] Traditional AGVs (Automated Guided Vehicles) / AMRs (Autonomous Mobile Robots) rely on obstacle avoidance radar for obstacle avoidance. However, most methods only involve using radar to delineate obstacle avoidance zones and controlling the vehicle chassis to stop or move to achieve obstacle avoidance. In real-world AGV / AMR applications, the vehicle needs to reach a designated location. Relying solely on radar data to determine the vehicle's obstacle avoidance direction in confined spaces doesn't guarantee successful arrival. Even if the vehicle does reach the designated location, the significant deviation between its forward direction and the intended destination results in numerous deviations and inefficient obstacle avoidance paths in confined environments.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this application is to provide a vehicle obstacle avoidance method, device, electronic device, and readable storage medium, which aims to solve the technical problem of low efficiency in vehicle obstacle avoidance and forward movement in narrow environments.

[0005] To achieve the above objectives, this application provides a vehicle obstacle avoidance method, the vehicle obstacle avoidance method comprising:

[0006] Obtain the target arrival direction of the vehicle to the target point;

[0007] Using the direction of arrival of the target as the starting point for direction search, and based on the vehicle's search radius information and the vehicle's obstacle information, the forward direction of the vehicle that meets the obstacle avoidance conditions is searched. The search radius information includes the vehicle's position and the obstacle avoidance radius.

[0008] Control the vehicle to move in the direction of travel and the obstacle avoidance radius.

[0009] To achieve the above objectives, this application provides a vehicle obstacle avoidance device, the vehicle obstacle avoidance device comprising:

[0010] The target arrival direction acquisition module is used to acquire the target arrival direction of the vehicle to the target point;

[0011] The forward direction acquisition module is used to take the target arrival direction as the starting point for direction search, and search for the forward direction of the vehicle that meets the obstacle avoidance conditions based on the vehicle's search radius information and the vehicle's obstacle information. The search radius information includes the vehicle position and the obstacle avoidance radius.

[0012] A movement module is used to control the vehicle to move in the direction of travel and the obstacle avoidance radius.

[0013] This application also provides an electronic device, the electronic device comprising: a memory, a processor, and a program of the vehicle obstacle avoidance method stored in the memory and executable on the processor, wherein when the program of the vehicle obstacle avoidance method is executed by the processor, the steps of the vehicle obstacle avoidance method as described above can be implemented.

[0014] This application also provides a readable storage medium storing a program that implements a vehicle obstacle avoidance method, wherein when the program is executed by a processor, it implements the steps of the vehicle obstacle avoidance method as described above.

[0015] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle obstacle avoidance method described above.

[0016] This application provides a vehicle obstacle avoidance method, device, electronic device, and readable storage medium. This application determines the target arrival direction of the vehicle to a target point, using this target arrival direction as the starting point for direction searching. Based on the vehicle's search radius information and obstacle information, it searches for the vehicle's forward direction that meets the obstacle avoidance conditions. Furthermore, it can control the vehicle to move according to the forward direction and obstacle avoidance radius, thus linking the vehicle's forward direction with the target arrival direction. Combining this with the vehicle's search radius information, it finds the direction that best meets the obstacle avoidance conditions and is closest to the target arrival direction as the vehicle's forward direction. This reduces the deviation between the target arrival direction and the forward direction under the premise of obstacle avoidance in narrow environments, allowing the vehicle to reach the target point with the optimal obstacle avoidance path, thereby improving the vehicle's obstacle avoidance and forward movement efficiency in narrow environments. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the first embodiment of the vehicle obstacle avoidance method of this application;

[0020] Figure 2 This is a flowchart illustrating the second embodiment of the vehicle obstacle avoidance method of this application;

[0021] Figure 3 This is a schematic diagram of the direction finding trajectory in the vehicle obstacle avoidance method of this application;

[0022] Figure 4 This is a schematic diagram illustrating the obstacle avoidance method of the vehicle in this application, showing the vehicle's movement from the target point to the obstacle.

[0023] Figure 5 This is a schematic diagram of an embodiment of the vehicle obstacle avoidance method of this application;

[0024] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle obstacle avoidance method in the embodiments of this application.

[0025] Explanation of icon numbers:

[0026] label name label name L1 Direction search trajectory L2 Obstacle Avoidance Route X Vehicle location C vehicle Z obstacle

[0027] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] Example 1

[0030] Reference Figure 1 This application provides a vehicle obstacle avoidance method. In the first embodiment of the vehicle obstacle avoidance method of this application, the vehicle obstacle avoidance method includes:

[0031] Step S10: Obtain the target arrival direction of the vehicle to the target point;

[0032] In this embodiment, it should be noted that the target point is the destination that the vehicle needs to reach, and the target arrival direction is the direction in which the vehicle arrives at the target point. For example, the target arrival direction can be the direction of the line connecting the midpoint of the vehicle's front and the target point.

[0033] In one feasible embodiment, prior to step S10, the vehicle obstacle avoidance method includes:

[0034] Step S11: Obtain map information, wherein the map information includes the vehicle's initial position and the target point position;

[0035] Step S12: Determine the target arrival direction of the vehicle to the target point based on the initial position of the vehicle and the target point position.

[0036] In this embodiment, it should be noted that the map information includes the vehicle's initial position and the target point position. The initial position is the vehicle's coordinates on the map, and the target point position is the coordinates of the destination the vehicle will reach. For example, the initial position can be the starting point where the vehicle begins its movement. The starting point position can be represented by coordinates, which can be the midpoint of the vehicle's front. For example, the map information can be represented in coordinate system form and can be obtained based on AGV / AMR. The direction of the line connecting the initial position and the target point position is taken as the target arrival direction of the vehicle to the target point. For example, the target arrival direction can also be preset. When the vehicle needs to change the target point during obstacle avoidance, the target point position can be updated to better reflect the target arrival direction. By acquiring map information, the initial position and target point position of the vehicle are determined, thereby determining the target arrival direction and providing a basis for determining the vehicle's forward direction.

[0037] Step S20: Using the direction of arrival of the target as the starting point for direction search, and based on the vehicle's search radius information and the vehicle's obstacle information, find the vehicle's forward direction that meets the obstacle avoidance conditions. The search radius information includes the vehicle's position and the obstacle avoidance radius.

[0038] Step S30: Control the vehicle to move according to the forward direction and the obstacle avoidance radius.

[0039] In this embodiment, it should be noted that the search radius information includes the vehicle position and the obstacle avoidance radius. For example, the vehicle position can be the midpoint of the vehicle's front end. The vehicle position is the origin of polar coordinates. The obstacle avoidance radius is the shortest distance that the vehicle can avoid obstacles. For example, the obstacle avoidance radius can be determined based on the vehicle's body width, the vehicle's obstacle avoidance warning distance, and the vehicle's turning radius. The obstacle avoidance radius is greater than the vehicle body width, the obstacle avoidance warning distance, and the obstacle avoidance radius. That is, the obstacle avoidance radius is greater than the maximum value among the vehicle body width, the turning radius, and the obstacle avoidance warning distance. The obstacle avoidance warning distance can be reasonably set based on the vehicle body width and the turning radius. The vehicle body width, the turning radius, and the obstacle avoidance warning distance can be compared first to obtain the maximum value among the three. Then, the obstacle avoidance radius can be set according to this maximum value. For example, the target radius is 1.1 to 2 times the maximum value among the three. By setting the obstacle avoidance radius based on the vehicle's width, turning radius, and the corresponding obstacle avoidance warning distance, the accuracy of obstacle avoidance in narrow environments is improved.

[0040] Additionally, it should be noted that the starting point for direction lookup is the starting point for the forward direction, and the obstacle information of the vehicle is the obstacle information at the location of the vehicle. For example, the obstacle information can be determined based on the vehicle's radar data. A radar can be installed on the vehicle chassis. The radar acquires radar data around the vehicle in real time or at regular intervals, and determines whether there are obstacles in the vehicle's driving environment based on the radar data. Specifically, radar data is collected through the vehicle's collection equipment or sensors. The radar data includes radar data corresponding to a preset distance of the radar angle around the vehicle (360 degrees). When radar data is acquired, it is determined whether there are obstacles in the vehicle's driving environment based on the radar data. If there are obstacles, obstacle information is determined based on the radar data. The obstacle information can be the coordinate information of each obstacle point in the coordinate system of the map corresponding to the vehicle, etc.

[0041] The direction of travel is the current direction of travel from the vehicle's current location. For example, the direction of travel can be represented by an angle, and the direction of travel can be the same as the direction of arrival of the target.

[0042] As an example, steps S10 to S30 include: obtaining the target arrival direction of the vehicle to the target point, using the target arrival direction as the starting point for direction search, determining the direction search trajectory of the vehicle based on the search radius information of the vehicle, searching for the forward direction of the vehicle that meets the obstacle avoidance conditions based on the direction search trajectory and the vehicle obstacle information, and controlling the vehicle to move a distance of obstacle avoidance radius according to the forward direction.

[0043] This application embodiment determines the target arrival direction of the vehicle to the target point, and uses the target arrival direction as the starting point for direction search. Based on the vehicle's search radius information and obstacle information, it searches for the vehicle's forward direction that meets the obstacle avoidance conditions. Then, it can control the vehicle to move according to the forward direction and obstacle avoidance radius, thereby associating the vehicle's forward direction with the target arrival direction. In conjunction with the vehicle's search radius information, it finds the direction that meets the obstacle avoidance conditions and is closest to the target arrival direction as the vehicle's forward direction. This reduces the deviation between the target arrival direction and the forward direction under the premise of obstacle avoidance in narrow environments, so that the vehicle can reach the target point with the optimal obstacle avoidance path, thus improving the vehicle's obstacle avoidance and forward movement efficiency in narrow environments.

[0044] Example 2

[0045] Furthermore, referring to Figure 2 Based on the above embodiments of this application, in another embodiment of this application, the same or similar content as the above embodiments can be referred to the above description, and will not be repeated hereafter. Based on this, the step of using the target arrival direction as the starting point for direction search, and searching for the vehicle's forward direction that meets the obstacle avoidance conditions based on the vehicle's search radius information and the vehicle's obstacle information, includes:

[0046] Step S21: Determine the directional search trajectory of the vehicle based on the vehicle's position and the obstacle avoidance radius;

[0047] Step S22: Take the direction of arrival of the target as the starting point of the direction search, and determine the search circle of the starting point of the direction search on the direction search trajectory, wherein the center of the search circle is on the direction search trajectory, and the vehicle position is on the circle of the search circle.

[0048] Step S23: Based on the obstacle information of the vehicle, determine whether the search circle of the direction search starting point meets the obstacle avoidance conditions;

[0049] Step S24: If the search circle of the direction search starting point is detected to meet the obstacle avoidance condition, then the direction of the search circle is taken as the forward direction of the vehicle.

[0050] In this embodiment of the application, it should be noted that the direction search trajectory is the trajectory of the center of the search circle. For example, refer to... Figure 3 , Figure 3This diagram illustrates the direction-finding trajectory. L1 represents the direction-finding trajectory, and X represents the vehicle position, which is also the center of the direction-finding trajectory circle. The center of the direction-finding trajectory circle is the origin of the polar coordinates of the search circle. Specifically, the direction-finding trajectory is obtained by drawing a circle with the vehicle position as the center and the obstacle avoidance radius. The search circle is used to determine the vehicle's forward direction. The point where the vehicle position is located lies on the search circle. The obstacle avoidance conditions include: there are no obstacle points on the search circle, or there is only one obstacle point on the search circle, and there are no obstacle points inside the search circle. The direction of the search circle is the direction of the line connecting the vehicle position and the center of the search circle. The direction of the search circle can be determined based on the coordinates of the vehicle position on the map, the coordinates of the center of the search circle on the map, the line connecting the vehicle position and the center of the search circle, the tangent line at the point where the vehicle position is located on the search circle, and the angle between the line and the tangent line. This angle can be used as the vehicle's forward angle, which is the forward direction.

[0051] As an example, steps S21 to S24 include: using the coordinate point corresponding to the vehicle's position as the center, determining a trajectory circle with an obstacle avoidance radius, and searching the trajectory circle's direction; using the target's arrival direction as the starting point for direction searching, determining the center of the starting point's circle on the direction searching trajectory, and determining the search circle for the starting point's direction based on the center of the starting point's circle and the obstacle avoidance radius; acquiring the vehicle's radar data, determining the vehicle's obstacle information, and judging whether the search circle meets the obstacle avoidance conditions; if the search circle is detected to meet the obstacle avoidance conditions, then the direction of the search circle is taken as the vehicle's forward direction; if the search circle is detected to not meet the obstacle avoidance conditions, then the search circle is re-determined. The radar data consists of obstacle points within a 360-degree range of a preset distance, and each obstacle point is taken as the vehicle's obstacle information. When it is determined that the search circle meets the obstacle avoidance conditions, the search for the corresponding search circle on the direction searching trajectory stops. In this embodiment, the target arrival direction is used as the starting point for direction search. It is determined whether the target arrival direction can be used as the current forward direction of the vehicle. If the target arrival direction can be used as the forward direction of the vehicle, the search circle is stopped on the direction search trajectory to reduce the amount of calculation and improve the search efficiency of the forward direction. Furthermore, it also ensures the matching degree between the forward direction and the target arrival direction, shortens the path of the vehicle to the target point, and improves the obstacle avoidance driving efficiency of the vehicle.

[0052] In one feasible embodiment, after step S23, the vehicle obstacle avoidance method further includes:

[0053] Step S231: If the search circle of the direction search starting point does not meet the obstacle avoidance condition, then the next step angle of the direction search starting point is taken as the first search direction, and the previous step angle of the direction search starting point is taken as the second search direction.

[0054] Step S232: Determine the search circle of the first search direction on the direction search trajectory, and determine whether the search circle of the first search direction meets the obstacle avoidance condition; and determine the search circle of the second search direction on the direction search trajectory, and determine whether the search circle of the second search direction meets the obstacle avoidance condition.

[0055] Step S233: If the search circle in the first search direction and the search circle in the second search direction do not meet the obstacle avoidance conditions, then update the first search direction to the next advance angle of the first search direction, and update the second search direction to the previous advance angle of the second search direction.

[0056] Step S234, and return to the execution steps: determining a search circle in the first search direction on the direction search trajectory, and determining whether the search circle in the first search direction meets the obstacle avoidance conditions, and determining a search circle in the second search direction on the direction search trajectory, and determining whether the search circle in the second search direction meets the obstacle avoidance conditions.

[0057] In this embodiment, it should be noted that the first search direction is opposite to the second search direction, and the step angle can be a preset angle. If the search circle in the target arrival direction does not meet the obstacle avoidance conditions, the target arrival direction is not taken as the vehicle's forward direction, and the corresponding search circle can be searched simultaneously in the first and second search directions. If a search circle that meets the obstacle avoidance conditions is determined in the first or second search direction, the determination of the search circle on the direction search trajectory stops.

[0058] As an example, steps S231 to S234 include: if the search circle at the starting point of the direction search does not meet the obstacle avoidance condition, then the next step angle at the starting point of the direction search is taken as the first search direction, and the previous step angle at the starting point of the direction search is taken as the second search direction; the center of the circle of the first search direction is determined on the direction search trajectory; based on the center of the circle of the first search direction and the obstacle avoidance radius, the search circle of the first search direction is determined, and it is determined whether the search circle of the first search direction meets the obstacle avoidance condition; the center of the circle of the second search direction is determined on the direction search trajectory; based on the center of the circle of the second search direction and the obstacle avoidance radius, the search circle of the first search direction is determined, and it is determined whether the search circle of the first search direction meets the obstacle avoidance condition. A search circle is defined for the second search direction, and it is determined whether the search circle in the second search direction meets the obstacle avoidance conditions. If neither the search circle in the first search direction nor the search circle in the second search direction meets the obstacle avoidance conditions, the first search direction is updated to the next advance angle of the first search direction, and the second search direction is updated to the previous advance angle of the second search direction; and the process returns to step S232. If either the search circle in the first search direction or the search circle in the second search direction meets the obstacle avoidance conditions, the first search direction or the second search direction is taken as the vehicle's forward direction, and the search circle determination on the direction search trajectory is stopped. For example, if no search circle meeting the obstacle avoidance conditions is found on the direction search trajectory, a prompt message can be output to inform the user that the vehicle cannot move forward.

[0059] This application embodiment searches for the vehicle's forward direction simultaneously from the target arrival direction to the first search direction and the second search direction, ensuring that the angle of the found forward direction is closest to the angle of the target arrival direction, and simultaneously searches for the forward angle from the opposite direction, thereby improving the efficiency of searching for the forward direction.

[0060] In one feasible embodiment, the step of determining a search circle on the direction search trajectory includes:

[0061] Step A10: Based on the vehicle position, determine the center of the target search direction in the direction search trajectory, wherein the target search direction is: the direction search starting point, the first search direction, or the second search direction;

[0062] Step A20: Determine the search circle for the target search direction based on the center of the circle in the target search direction and the obstacle avoidance radius.

[0063] In this embodiment, it should be noted that the target search direction is either a starting point for direction search, a first search direction, or a second search direction. The vehicle position can be represented as a vehicle position coordinate point in a map coordinate system, with the vehicle position coordinates being the origin of polar coordinates. The center of the target search direction circle can be represented as the center coordinate point of the target search direction circle in the map coordinate system. The search circle for the target search direction is determined by the center coordinate point and the obstacle avoidance radius. The vehicle position coordinate point lies on the search circle. The angle of the target search direction is not limited; that is, the angle of the starting point for direction search, the first search direction, or the second search direction can all be within the range of 0 to 360°.

[0064] As an example, steps A10 to A20 include: determining the center of the direction search starting point on the direction search trajectory based on the vehicle position coordinates and the angle of the direction search starting point; specifically, determining a ray from the vehicle position coordinates towards the direction search starting point, and using the intersection of the ray and the direction search trajectory as the center of the direction search starting point; determining the search circle of the direction search starting point based on the center of the direction search starting point and the obstacle avoidance radius; determining the center of the first search direction on the direction search trajectory based on the vehicle position coordinates and the angle of the first search direction; specifically, ... A ray is determined from the coordinate point towards the first search direction, and the intersection of the ray and the direction search trajectory is taken as the center of the circle in the first search direction. A search circle in the first search direction is determined based on the center of the circle and the obstacle avoidance radius. The center of the second search direction is determined on the direction search trajectory based on the vehicle's position coordinates and the angle between the vehicle and the second search direction. Specifically, a ray is determined from the vehicle's position coordinates towards the second search direction, and the intersection of the ray and the direction search trajectory is taken as the center of the circle in the second search direction. A search circle in the second search direction is determined based on the center of the circle and the obstacle avoidance radius. This embodiment of the application determines the center of the target search direction on the direction search trajectory, and then determines the search circle of the target search direction based on the obstacle avoidance radius. This allows for determination of whether an obstacle exists within the vehicle's obstacle avoidance radius based on the search circle, thereby enabling driving in narrow environments.

[0065] In one feasible embodiment, the step of determining whether the search circle meets the obstacle avoidance conditions based on the obstacle information of the vehicle includes:

[0066] Step B10: Based on the obstacle information of the vehicle, determine whether there are obstacle points on or inside the search circle.

[0067] Step B20: If an obstacle point is detected within the search circle, it is determined that the search circle does not meet the obstacle avoidance conditions.

[0068] Step B30: If no obstacle point is detected inside the search circle and no obstacle point is detected on the search circle, then the search circle is determined to meet the obstacle avoidance condition.

[0069] Step B40, or, if it is detected that there is no obstacle point inside the search circle and there is an obstacle point on the search circle, then it is determined that the search circle meets the obstacle avoidance condition.

[0070] In this embodiment, it should be noted that the obstacle information includes obstacle points within a preset distance of the vehicle. For example, the obstacle points can be represented as obstacle coordinate points on the coordinate system of the map. Based on the obstacle coordinate points, the coordinate information of a search circle can be used to determine whether the search circle meets the obstacle avoidance conditions. The coordinate information of the search circle is the coordinate range within the search circle. If the obstacle coordinate points are within the coordinate range of the search circle, it indicates that the search circle does not meet the obstacle avoidance conditions.

[0071] As an example, steps B10 to B40 include: determining whether there are obstacle points on or inside the search circle based on the obstacle information of the vehicle; if an obstacle point is detected inside the search circle, the search circle is determined not to meet the obstacle avoidance conditions; if no obstacle point is detected inside or on the search circle, the search circle is determined to meet the obstacle avoidance conditions; or, if no obstacle point is detected inside or on the search circle, and one obstacle point is detected on the search circle, the search circle is determined to meet the obstacle avoidance conditions. Since the obstacle avoidance radius is greater than the maximum value among the vehicle width, turning radius, and obstacle avoidance warning distance, the vehicle will not collide with an obstacle when there is one obstacle point on the search circle. However, when there are more than one obstacle point, it is difficult to determine the next forward angle after the vehicle moves in the direction corresponding to the search circle with multiple obstacle points.

[0072] In one feasible embodiment, after step S30, the vehicle obstacle avoidance method further includes:

[0073] Step X10: Update the vehicle position based on the vehicle's direction of travel and the obstacle avoidance radius;

[0074] Step X20: Based on the updated vehicle position, determine whether the vehicle has arrived at the target point;

[0075] Step X30: If the vehicle does not reach the target point, return to the following steps: take the target arrival direction as the starting point for direction search, and search for the vehicle's forward direction that meets the obstacle avoidance conditions based on the vehicle's search radius information and the vehicle's obstacle information.

[0076] In this embodiment, it should be noted that after the vehicle has moved the obstacle avoidance radius in the forward direction, it may not have reached the target point yet. In this case, the vehicle's position can be updated, and the process can return to step S20. For example, if the vehicle's position coordinates are within the preset coordinate range of the target point, it is determined that the vehicle has reached the target point. Figure 4 , Figure 4 This is a schematic diagram of the obstacle avoidance route for the vehicle to reach the target point. Figure 4 The circles in the diagram are the search circles that meet the obstacle avoidance conditions and are closest to the direction of the target's arrival. L2 is the obstacle avoidance route, Z is the obstacle, and C is the vehicle. The obstacle avoidance route can be composed of the obstacle avoidance radii at each forward angle, or it can be determined based on the position of each vehicle.

[0077] As an example, steps X10 to X30 include: updating the vehicle's position coordinates based on the vehicle's forward direction and the obstacle avoidance radius to update the vehicle's position; determining whether the vehicle's position coordinates are within a preset coordinate range of the target point; if the vehicle's position coordinates are within the preset coordinate range, determining that the vehicle has reached the target point; if the vehicle's position coordinates are not within the preset coordinate range, returning to step S20 to determine a new forward direction, thereby controlling the vehicle to move in the new forward direction. This embodiment of the application, by updating the vehicle's position, can determine a new forward direction that meets the obstacle avoidance conditions based on the new vehicle position, allowing the vehicle to move in the forward direction, minimizing the path from the starting point to the target point, and improving the efficiency of the vehicle's obstacle avoidance.

[0078] Example 3

[0079] Reference Figure 5 This application also provides a vehicle obstacle avoidance device, which includes:

[0080] The target arrival direction acquisition module 10 is used to acquire the target arrival direction of the vehicle to the target point;

[0081] The forward direction acquisition module 20 is used to take the target arrival direction as the starting point for direction search, and search for the forward direction of the vehicle that meets the obstacle avoidance conditions based on the vehicle's search radius information and the vehicle's obstacle information. The search radius information includes the vehicle position and the obstacle avoidance radius.

[0082] The movement module 30 is used to control the vehicle to move according to the forward direction and the obstacle avoidance radius. Optionally, the forward direction acquisition module 20 is further used for:

[0083] The directional search trajectory of the vehicle is determined based on the vehicle's position and the obstacle avoidance radius;

[0084] The direction of arrival of the target is taken as the starting point of the direction search. A search circle is determined on the direction search trajectory, wherein the center of the search circle is on the direction search trajectory, and the vehicle position is on the circle of the search circle.

[0085] Based on the obstacle information of the vehicle, determine whether the search circle of the starting point of the direction search meets the obstacle avoidance conditions;

[0086] If the search circle at the starting point of the direction search is detected to meet the obstacle avoidance condition, then the direction of the search circle is taken as the forward direction of the vehicle.

[0087] Optionally, the forward direction acquisition module 20 is further configured to:

[0088] If the search circle of the direction search starting point does not meet the obstacle avoidance condition, then the next step angle of the direction search starting point is taken as the first search direction, and the previous step angle of the direction search starting point is taken as the second search direction.

[0089] A search circle for a first search direction is determined on the direction search trajectory, and it is determined whether the search circle for the first search direction meets the obstacle avoidance condition; and a search circle for a second search direction is determined on the direction search trajectory, and it is determined whether the search circle for the second search direction meets the obstacle avoidance condition.

[0090] If the search circle in the first search direction and the search circle in the second search direction do not meet the obstacle avoidance conditions, then the first search direction is updated to the next advance angle of the first search direction, and the second search direction is updated to the previous advance angle of the second search direction.

[0091] And return to the execution steps: determining a search circle in the first search direction on the direction search trajectory, and determining whether the search circle in the first search direction meets the obstacle avoidance conditions; and determining a search circle in the second search direction on the direction search trajectory, and determining whether the search circle in the second search direction meets the obstacle avoidance conditions.

[0092] Optionally, the forward direction acquisition module 20 is further configured to:

[0093] Based on the vehicle's location, the center of the target search direction is determined in the direction search trajectory, wherein the target search direction is: the direction search starting point, the first search direction, or the second search direction;

[0094] The search circle for the target search direction is determined based on the center of the circle and the obstacle avoidance radius.

[0095] Optionally, the forward direction acquisition module 20 is further configured to:

[0096] Based on the obstacle information of the vehicle, determine whether there are obstacle points on or inside the search circle;

[0097] If an obstacle point is detected within the search circle, it is determined that the search circle does not meet the obstacle avoidance conditions.

[0098] If no obstacle point is detected inside the search circle and no obstacle point is detected on the search circle, then the search circle is determined to meet the obstacle avoidance condition.

[0099] Alternatively, if no obstacle point is detected inside the search circle, and an obstacle point is detected on the search circle, then the search circle is determined to meet the obstacle avoidance condition.

[0100] Optionally, the moving module 30 is further configured to:

[0101] The vehicle position is updated based on the vehicle's direction of travel and the obstacle avoidance radius;

[0102] Based on the updated vehicle position, determine whether the vehicle has arrived at the target point;

[0103] If the vehicle does not reach the target point, the process returns to the following steps: using the target arrival direction as the starting point for direction search, and based on the vehicle's search radius information and obstacle information, searching for the vehicle's forward direction that meets the obstacle avoidance conditions.

[0104] Optionally, the target arrival direction acquisition module 10 is further configured to:

[0105] Obtain map information, wherein the map information includes the vehicle's initial position and the target point position;

[0106] Based on the initial position of the vehicle and the position of the target point, determine the target arrival direction of the vehicle to the target point.

[0107] The vehicle obstacle avoidance device provided in this application employs the vehicle obstacle avoidance method described in the above embodiments, aiming to solve the technical problem of low vehicle obstacle avoidance efficiency in narrow environments. Compared with the prior art, the beneficial effects of the vehicle obstacle avoidance method provided in this application are the same as those of the vehicle obstacle avoidance method provided in the above embodiments, and other technical features of this vehicle obstacle avoidance device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0108] Example 4

[0109] This application provides an electronic device, which can be a playback device. The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the vehicle obstacle avoidance method in the above embodiments.

[0110] The following is for reference. Figure 6 The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (portable Android devices), PMPs (portable media players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0111] like Figure 6 As shown, the electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in ROM (Read-Only Memory) 1002 or a program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1006. Input / output (I / O) interface 1006 is also connected to the bus.

[0112] Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, tachometers, gyroscopes, etc.; output devices 1008 including, for example, LCDs (Liquid Crystal Displays), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication devices allow electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0113] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication system, or installed from a storage system, or installed from a ROM. When the computer program is executed by a processing system, it performs the functions defined above in the methods of embodiments of this disclosure.

[0114] The electronic device provided in this application, employing the vehicle obstacle avoidance method in Embodiment 1 above, aims to solve the technical problem of low vehicle obstacle avoidance efficiency in narrow environments. Compared with the prior art, the beneficial effects of the product flow data allocation provided in this application embodiment are the same as the beneficial effects of the vehicle obstacle avoidance method provided in the above embodiments, and other technical features in this vehicle obstacle avoidance device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0115] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0116] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0117] Example 5

[0118] This embodiment provides a readable storage medium having computer-readable program instructions stored thereon, which are used to execute the vehicle obstacle avoidance method in Embodiment 1 above.

[0119] The readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, apparatuses, or any combination thereof. More specific examples of readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable EPROM (Electrical Programmable Read Only Memory) or flash memory, optical fiber, portable compact disk CD-ROM (compact disc read-only memory), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution device, apparatus, or apparatus. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0120] The aforementioned readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0121] The aforementioned readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: acquire the target arrival direction of the vehicle to the target point; use the target arrival direction as the starting point for direction lookup, and, based on the vehicle's search radius information and the vehicle's obstacle information, find the vehicle's forward direction that satisfies the obstacle avoidance conditions, wherein the search radius information includes the vehicle's position and the obstacle avoidance radius; and control the vehicle to move according to the forward direction and the obstacle avoidance radius.

[0122] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a LAN (local area network) or WAN (wide area network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based device that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0124] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0125] The readable storage medium provided in this application stores computer-readable program instructions for executing the above-described vehicle obstacle avoidance method, aiming to solve the technical problem of low vehicle obstacle avoidance efficiency in narrow environments. Compared with the prior art, the beneficial effects of the readable storage medium provided in this application are the same as the beneficial effects of the vehicle obstacle avoidance method provided in the above-described embodiments, and will not be repeated here.

[0126] Example 6

[0127] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle obstacle avoidance method described above.

[0128] The computer program product provided in this application aims to solve the technical problem of low efficiency in obstacle avoidance and forward movement of vehicles in narrow environments. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the vehicle obstacle avoidance method provided in the above embodiments, and will not be repeated here.

[0129] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A vehicle obstacle avoidance method, characterized in that, The vehicle obstacle avoidance method includes: Obtain the target arrival direction of the vehicle to the target point; Using the direction of arrival of the target as the starting point for direction search, and based on the vehicle's search radius information and the vehicle's obstacle information, the forward direction of the vehicle that meets the obstacle avoidance conditions is searched. The search radius information includes the vehicle's position and the obstacle avoidance radius. Control the vehicle to move in the direction of travel and the obstacle avoidance radius; The step of using the target arrival direction as the starting point for direction search, and searching for the vehicle's forward direction that meets the obstacle avoidance conditions based on the vehicle's search radius information and obstacle information, includes: The directional search trajectory of the vehicle is determined based on the vehicle's position and the obstacle avoidance radius; The direction of arrival of the target is taken as the starting point of the direction search. A search circle is determined on the direction search trajectory, wherein the center of the search circle is on the direction search trajectory, and the vehicle position is on the circle of the search circle. Based on the obstacle information of the vehicle, determine whether the search circle of the starting point of the direction search meets the obstacle avoidance conditions; If the search circle at the starting point of the direction search is detected to meet the obstacle avoidance condition, then the direction of the search circle is taken as the forward direction of the vehicle. If the search circle at the starting point of the direction search does not meet the obstacle avoidance condition, then the corresponding search circle is searched simultaneously in the first search direction and the second search direction. The first search direction is the next step angle of the starting point of the direction search, and the second search direction is the previous step angle of the starting point of the direction search.

2. The vehicle obstacle avoidance method as described in claim 1, characterized in that, After the step of determining whether the search circle of the direction search starting point meets the obstacle avoidance conditions, the vehicle obstacle avoidance method further includes: A search circle for a first search direction is determined on the direction search trajectory, and it is determined whether the search circle for the first search direction meets the obstacle avoidance condition; and a search circle for a second search direction is determined on the direction search trajectory, and it is determined whether the search circle for the second search direction meets the obstacle avoidance condition. If the search circle in the first search direction and the search circle in the second search direction do not meet the obstacle avoidance conditions, then the first search direction is updated to the next advance angle of the first search direction, and the second search direction is updated to the previous advance angle of the second search direction. And return to the execution steps: determining a search circle in the first search direction on the direction search trajectory, and determining whether the search circle in the first search direction meets the obstacle avoidance conditions; and determining a search circle in the second search direction on the direction search trajectory, and determining whether the search circle in the second search direction meets the obstacle avoidance conditions.

3. The vehicle obstacle avoidance method as described in any one of claims 2, characterized in that, The steps for determining the search circle on the search trajectory in the stated direction include: Based on the vehicle's location, the center of the target search direction is determined in the direction search trajectory, wherein the target search direction is: the direction search starting point, the first search direction, or the second search direction; The search circle for the target search direction is determined based on the center of the circle and the obstacle avoidance radius.

4. The vehicle obstacle avoidance method as described in any one of claims 2, characterized in that, The steps for determining whether the search circle meets the obstacle avoidance conditions based on the obstacle information of the vehicle include: Based on the obstacle information of the vehicle, determine whether there are obstacle points on or inside the search circle; If an obstacle point is detected within the search circle, it is determined that the search circle does not meet the obstacle avoidance conditions. If no obstacle point is detected inside the search circle and no obstacle point is detected on the search circle, then the search circle is determined to meet the obstacle avoidance condition. Alternatively, if no obstacle point is detected inside the search circle, and an obstacle point is detected on the search circle, then the search circle is determined to meet the obstacle avoidance condition.

5. The vehicle obstacle avoidance method as described in claim 1, characterized in that, After the step of controlling the vehicle to move according to the forward direction and obstacle avoidance radius, the vehicle obstacle avoidance method further includes: The vehicle position is updated based on the vehicle's direction of travel and the obstacle avoidance radius; Based on the updated vehicle position, determine whether the vehicle has arrived at the target point; If the vehicle does not reach the target point, the process returns to the following steps: using the target arrival direction as the starting point for direction search, and based on the vehicle's search radius information and obstacle information, searching for the vehicle's forward direction that meets the obstacle avoidance conditions.

6. The vehicle obstacle avoidance method as described in claim 1, characterized in that, The step of obtaining the target arrival direction of the vehicle to the target point includes: Obtain map information, wherein the map information includes the vehicle's initial position and the target point position; Based on the initial position of the vehicle and the position of the target point, determine the target arrival direction of the vehicle to the target point.

7. A vehicle obstacle avoidance device, characterized in that, The vehicle obstacle avoidance device includes: The target arrival direction acquisition module is used to acquire the target arrival direction of the vehicle to the target point; The forward direction acquisition module is used to take the target arrival direction as the starting point for direction search, and search for the forward direction of the vehicle that meets the obstacle avoidance conditions based on the vehicle's search radius information and the vehicle's obstacle information. The search radius information includes the vehicle position and the obstacle avoidance radius. A mobility module is used to control the vehicle to move according to the forward direction and the obstacle avoidance radius; The forward direction acquisition module is further configured to determine the vehicle's direction search trajectory based on the vehicle's position and the obstacle avoidance radius; using the target arrival direction as the direction search starting point, and determining a search circle for the direction search starting point on the direction search trajectory, wherein the center of the search circle is on the direction search trajectory, and the vehicle's position is on the circle of the search circle; determining whether the search circle for the direction search starting point meets the obstacle avoidance conditions based on the vehicle's obstacle information; if the search circle for the direction search starting point is detected to meet the obstacle avoidance conditions, then the direction of the search circle is taken as the vehicle's forward direction; if the search circle for the direction search starting point does not meet the obstacle avoidance conditions, then simultaneously searching for corresponding search circles in a first search direction and a second search direction, wherein the first search direction is the next step angle of the direction search starting point, and the second search direction is the previous step angle of the direction search starting point.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the steps of the vehicle obstacle avoidance method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a program for implementing a vehicle obstacle avoidance method, which is executed by a processor to implement the steps of the vehicle obstacle avoidance method as described in any one of claims 1 to 6.

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