Vehicle obstacle avoidance method, device and electronic equipment

Abstract

This invention discloses a vehicle obstacle avoidance method, device, and electronic device. The method includes: determining the position information of various obstacles around the vehicle when it turns; determining the instantaneous turning center position information of the vehicle based on the vehicle's heading angle; determining a first distance and a first included angle between each obstacle and the instantaneous turning center; determining a second distance and a second included angle between each corner point and the instantaneous turning center; determining the closest distance and the farthest distance from the instantaneous turning center on the vehicle's longitudinal axis; determining candidate obstacles to be avoided based on the first distance, the second distance, the closest distance, and the farthest distance; determining the target obstacle to be avoided from among the candidate obstacles; and controlling the vehicle to perform obstacle avoidance processing on the target obstacle. Through the technical solution of this invention, obstacle positioning and avoidance during vehicle movement are achieved, enhancing the vehicle's ability to travel in passable areas and its obstacle avoidance capabilities in obstacle avoidance scenarios.

Description

Technical Field

[0001] This invention relates to the field of vehicle obstacle avoidance technology, and in particular to a vehicle obstacle avoidance method, device and electronic equipment. Background Technology

[0002] With the rapid development of vehicle technology, vehicles' ability to navigate different scenarios is constantly improving, and obstacle avoidance capability has become an important indicator for judging vehicle performance.

[0003] In existing technologies, a certain expansion zone is usually set around the vehicle, and obstacle avoidance is performed by detecting whether obstacles enter the expansion zone of the vehicle body. The obstacle avoidance zone of the vehicle is relatively fixed. With the development of vehicle perception technology, the obstacle perception ability of vehicles is constantly improving. Traditional obstacle avoidance methods are affected by the obstacle avoidance zone, resulting in a relatively low ability of the vehicle to bypass obstacles and pass through obstacles. Summary of the Invention

[0004] This invention provides a vehicle obstacle avoidance method, device, and electronic device to achieve obstacle location and avoidance when a vehicle is turning, enhance the vehicle's ability to pass through passable areas, and improve the vehicle's obstacle avoidance ability in obstacle avoidance scenarios.

[0005] In a first aspect, embodiments of the present invention provide a vehicle obstacle avoidance method, comprising:

[0006] Determine the position information of all obstacles around the vehicle when it turns, and determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle;

[0007] Based on the location information of each obstacle and the location information of the instantaneous turning center, a first distance and a first angle between each obstacle and the instantaneous turning center are determined. The first angle is the angle between the line connecting the obstacle and the instantaneous turning center and the vehicle's lateral axis.

[0008] Based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center, determine the second distance and the second included angle between each corner point and the instantaneous turning center, wherein the second included angle is the angle between the line connecting the corner point and the instantaneous turning center and the vehicle's lateral axis;

[0009] Based on vehicle size information and instantaneous turning center position information, determine the closest and farthest distances from the instantaneous turning center along the vehicle's longitudinal axis;

[0010] Based on the first distance, the second distance, the nearest distance, and the farthest distance, candidate obstacles that need to be avoided are determined from among the various obstacles;

[0011] Based on the first distance and first included angle corresponding to each candidate obstacle, and the second distance and second included angle corresponding to each corner point, the target obstacle that needs to be avoided is determined from each candidate obstacle, and the vehicle is controlled to perform obstacle avoidance processing on the target obstacle.

[0012] Secondly, embodiments of the present invention also provide a vehicle obstacle avoidance device, comprising:

[0013] The instantaneous turning center determination module is used to determine the position information of various obstacles around the vehicle when it turns, and to determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle.

[0014] The first distance and first angle determination module is used to determine the first distance and first angle between each obstacle and the instantaneous turning center based on the position information of each obstacle and the position information of the instantaneous turning center. The first angle is the angle between the line connecting the obstacle and the instantaneous turning center and the lateral axis of the vehicle.

[0015] The second distance and second included angle determination module is used to determine the second distance and second included angle between each corner point and the instantaneous turning center based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center. The second included angle is the angle between the line connecting the corner point and the instantaneous turning center and the lateral axis of the vehicle.

[0016] The closest and furthest distance determination module determines the closest and furthest distances from the instantaneous turning center on the vehicle's longitudinal axis based on vehicle size information and instantaneous turning center position information.

[0017] The candidate obstacle determination module is used to determine candidate obstacles that need to be avoided from among various obstacles based on the first distance, the second distance, the nearest distance and the farthest distance;

[0018] The obstacle avoidance module determines the target obstacle to be avoided from each candidate obstacle based on the first distance and first included angle corresponding to each candidate obstacle and the second distance and second included angle corresponding to each corner point, and controls the vehicle to perform obstacle avoidance processing on the target obstacle.

[0019] Thirdly, embodiments of the present invention also provide an electronic device, characterized in that the electronic device comprises: at least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the vehicle obstacle avoidance method provided in any embodiment of the present invention.

[0022] Fourthly, embodiments of the present invention also provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, which are used to enable a processor to execute the vehicle obstacle avoidance method provided in any embodiment of the present invention.

[0023] The technical solution of this invention involves determining the position information of various obstacles around the vehicle when it turns, determining the instantaneous turning center position information of the vehicle based on the vehicle's heading angle, determining a first distance and a first included angle between each obstacle and the instantaneous turning center based on the position information of each obstacle and the instantaneous turning center position information, determining a second distance and a second included angle between each corner point and the instantaneous turning center based on the position information of at least two corner points of the vehicle and the instantaneous turning center position information, and determining the closest and farthest distances from the instantaneous turning center on the vehicle's longitudinal axis based on the vehicle's dimensions and the instantaneous turning center position information; and based on the first distance and the second... The system uses distance, the nearest distance, and the farthest distance to initially identify candidate obstacles that need to be avoided from among all obstacles in terms of distance. Based on the first distance and the first included angle corresponding to each candidate obstacle, as well as the second distance and the second included angle corresponding to each corner point, the system further identifies target obstacles that need to be avoided in terms of both angle and distance from among all candidate obstacles. This allows the system to accurately determine the final target obstacles that need to be avoided in a dynamically changing obstacle avoidance area, and controls the vehicle to avoid only the target obstacles that need to be avoided. This enables obstacle positioning and avoidance when the vehicle is turning, enhances the vehicle's ability to pass through passable areas, and improves the vehicle's obstacle avoidance ability in obstacle avoidance scenarios.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart of a vehicle obstacle avoidance method according to Embodiment 1 of the present invention;

[0027] Figure 2 This is a vehicle radar distribution map according to Embodiment 1 of the present invention;

[0028] Figure 3This is a schematic diagram of a forward-facing ultrasonic radar according to Embodiment 1 of the present invention;

[0029] Figure 4 This is a schematic diagram of an angular ultrasonic radar according to Embodiment 1 of the present invention;

[0030] Figure 5 This is a schematic diagram of a side ultrasonic radar according to Embodiment 1 of the present invention;

[0031] Figure 6 This is a flowchart of a vehicle obstacle avoidance method according to Embodiment 2 of the present invention;

[0032] Figure 7 This is an example diagram of a target obstacle determination process according to Embodiment 2 of the present invention;

[0033] Figure 8 This is a schematic diagram of a vehicle obstacle avoidance device according to Embodiment 3 of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of an electronic device that implements the vehicle obstacle avoidance method of this invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "target," "current," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] Example 1

[0038] Figure 1This is a flowchart of a vehicle obstacle avoidance method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where obstacles around a vehicle are detected and obstacle avoidance is performed based on the vehicle's boundaries. Figure 1 As shown, this method can be executed by a vehicle obstacle avoidance device, which can be implemented in hardware and / or software and can be configured in electronic devices. For example... Figure 1 As shown, the method specifically includes the following steps:

[0039] S110. Determine the position information of all obstacles around the vehicle when it turns, and determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle.

[0040] The obstacle position information can refer to the coordinates of the obstacle in the vehicle's coordinate system. The vehicle heading angle can refer to the angle between the vehicle's direction of travel and the horizontal axis of the geodetic coordinate system. The instantaneous turning center can refer to the center of the radius of curvature of the curve trajectory on which the car is turning, that is, the intersection of the axles of all the car's wheels. The instantaneous turning center position information can refer to the coordinates of the instantaneous turning center in the vehicle's coordinate system.

[0041] Specifically, the movement of obstacles relative to the ultrasonic radar is determined by ultrasonic radar, and the position information of various obstacles around the vehicle when turning is obtained. The rotation amplitude of the front axle of the vehicle is determined based on the heading angle of the vehicle when turning. At this time, the intersection of the straight line where the front axle of the vehicle is located and the straight line where the rear axle of the vehicle is located is the instantaneous turning center. The distance between the front and rear axles of the vehicle is multiplied by the cotangent value corresponding to the heading angle to obtain the ordinate of the instantaneous turning center in the vehicle coordinate system (with the rear axle center as the origin and the axis where the rear axle is located as the longitudinal axis). The abscissa is 0. This coordinate is the position information of the instantaneous turning center of the vehicle.

[0042] S120. Based on the position information of each obstacle and the position information of the instantaneous turning center, determine the first distance and the first included angle between each obstacle and the instantaneous turning center. The first included angle is the angle between the line connecting the obstacle and the instantaneous turning center and the vehicle's lateral axis.

[0043] Here, the first distance can refer to the distance between the obstacle and the instantaneous turning center at the current moment. The lateral axis of the vehicle body can refer to the direction parallel to the side of the vehicle.

[0044] Specifically, based on the location information of each obstacle (object_x) n ,object_y n ) and instantaneous turning center position information (x O y O Determine the instantaneous turning center (x) O y OThe vector composed of the object's coordinates and the obstacle's coordinates (object_x) n -x O ,object_y n -y O The instantaneous turning center O(x) can be determined based on the magnitude of this vector. O y O The first distance R between the coordinates of the object and the obstacle n Angle θ with the first n .

[0045] S130. Based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center, determine the second distance and the second included angle between each corner point and the instantaneous turning center. The second included angle is the angle between the line connecting the corner point and the instantaneous turning center and the vehicle's lateral axis.

[0046] The corner position information refers to the coordinates of the four corners of the vehicle in the vehicle coordinate system.

[0047] Specifically, based on the position information of each corner point of the vehicle (e.g., A(x) A ,y A B(x) B ,y B ), C(x) C ,y C ), D(x D ,y D and instantaneous turning center position information O(x) O y O ), determine the vector formed between each corner point and the instantaneous turning center, i.e., OA(x A -x O ,y A -y O ), OB(x B -x O ,y B -y O ), OC(x) C -x O ,y C -y O ), OD(x D -x O ,y D -y O The instantaneous turning center O(x) is calculated based on the magnitude of the vector. O y O The second distance R between each corner point A R B R C R D With the second angle θ A θB θ C θ D .

[0048] S140. Based on the vehicle body size information and the instantaneous turning center position information, determine the closest and farthest distances from the instantaneous turning center on the vehicle's longitudinal axis.

[0049] Among these, vehicle dimensions can refer to the length and width of the vehicle body. The vehicle's longitudinal axis can refer to the direction parallel to the vehicle's bumper.

[0050] Specifically, the distance between the instantaneous turning center and the origin of the vehicle's coordinate system is determined based on the instantaneous turning center position information. The shortest distance between the origin of the vehicle's coordinate system and the sides of the vehicle is determined based on the vehicle's dimensions. The distance between the instantaneous turning center and the origin of the vehicle's coordinate system is added to the shortest distance between the origin and the sides of the vehicle to obtain the farthest distance from the vehicle to the instantaneous turning center along the vehicle's longitudinal axis. The distance between the instantaneous turning center and the origin of the vehicle's coordinate system is subtracted from the shortest distance between the origin and the sides of the vehicle to obtain the closest distance from the vehicle to the instantaneous turning center along the vehicle's longitudinal axis.

[0051] S150. Based on the first distance, the second distance, the closest distance, and the farthest distance, determine the candidate obstacles that need to be avoided from among the various obstacles.

[0052] Among them, candidate obstacles can refer to obstacles within the largest annular area formed by the arcs formed by the second distance, the closest distance, and the farthest distance rotating around the instantaneous turning center.

[0053] Specifically, based on the second distance, closest distance, and farthest distance corresponding to each corner point of the vehicle, the maximum and minimum values ​​of each distance are determined, and obstacles whose distance from the instantaneous turning center is between the maximum and minimum values ​​are identified as candidate obstacles that need to be avoided.

[0054] For example, S150 may include: determining an obstacle avoidance distance range based on a second distance, the nearest distance, and the farthest distance; detecting whether the first distance corresponding to each obstacle is within the obstacle avoidance distance range, and identifying obstacles within the obstacle avoidance distance range as candidate obstacles that need to be avoided.

[0055] Specifically, based on the second distance R corresponding to each corner point of the vehicle A R B R C R D The closest distance R ymin And the farthest distance R ymax Determine the maximum value of each distance, MAX{R}. A R B RC R D R ymax R ymin} and minimum value MIN{R A R B R C R D R ymax R ymin According to the clockwise turning center O(x) O y O Distance R between the object and the obstacle coordinates n Make a rough judgment and compare R. n Is it within the interval [MAX{R]? A R B R C R D R ymax R ymin},MIN{R A R B R C R D R ymax R ymin If so, then this obstacle is a candidate obstacle that needs to be avoided; otherwise, the obstacle is ignored and the obstacle avoidance calculation process ends.

[0056] S160. Based on the first distance and first included angle corresponding to each candidate obstacle and the second distance and second included angle corresponding to each corner point, determine the target obstacle that needs to be avoided from each candidate obstacle, and control the vehicle to perform obstacle avoidance processing on the target obstacle.

[0057] The target obstacle can refer to any obstacle within the area that the vehicle body passes through.

[0058] Specifically, based on the first distance and first included angle corresponding to each candidate obstacle and the second included angle corresponding to the left rear corner of the vehicle, obstacles with a first included angle smaller than the second included angle are identified as target obstacles that need to be avoided. Obstacles with a first distance between the second distance corresponding to the left rear corner of the vehicle and the farthest distance on the vehicle's longitudinal axis from the instantaneous turning center are identified as target obstacles that need to be avoided. Obstacles that coincide with the vehicle body after moving a preset distance towards the vehicle while the vehicle is stationary are identified as target obstacles that need to be avoided, and the vehicle is controlled to perform obstacle avoidance processing on the target obstacles.

[0059] The technical solution of this invention determines the position information of various obstacles around the vehicle when it turns, and determines the instantaneous turning center position information of the vehicle based on the vehicle's heading angle. Based on the position information of each obstacle and the instantaneous turning center position information, a first distance and a first included angle between each obstacle and the instantaneous turning center are determined. Based on the position information of at least two corner points of the vehicle and the instantaneous turning center position information, a second distance and a second included angle between each corner point and the instantaneous turning center are determined. Based on the vehicle body size information and the instantaneous turning center position information, the nearest point on the vehicle's longitudinal axis to the instantaneous turning center is determined. The system identifies the distance and maximum distance; based on the first distance, second distance, closest distance, and farthest distance, it initially determines candidate obstacles that need to be avoided in terms of distance from each obstacle; based on the first distance and first included angle corresponding to each candidate obstacle, and the second distance and second included angle corresponding to each corner point, it further determines the target obstacles that need to be avoided in terms of both angle and distance from each candidate obstacle, and controls the vehicle to only perform obstacle avoidance processing on the target obstacles that need to be avoided, thereby realizing obstacle positioning and obstacle avoidance when the vehicle is turning, enhancing the vehicle's ability to pass through passable areas, and improving the vehicle's obstacle avoidance ability in obstacle avoidance scenarios.

[0060] Based on the above technical solution, "determining the position information of each obstacle around the vehicle when it turns" in S110 may include: acquiring the radar data returned by each ultrasonic radar at the current moment when the vehicle turns, and installing at least one ultrasonic radar around the vehicle; determining the target position information of each obstacle in the radar coordinate system at the current moment based on the radar data returned at the current moment and the radar data returned at the previous moment; and converting the target position information to the vehicle coordinate system to obtain the obstacle position information of each obstacle in the vehicle coordinate system at the current moment.

[0061] Here, radar data can refer to the distance information between the obstacle and the ultrasonic radar at each given moment. Target position information can refer to the coordinates of the obstacle in the radar coordinate system at the current moment. The vehicle coordinate system can refer to a coordinate system with the center of the vehicle's rear axle as the origin.

[0062] Specifically, ultrasonic radars are installed around the vehicle, in locations such as... Figure 2 As shown. In Figure 2In this system, four ultrasonic radars can be installed at the front of the vehicle. Two are forward-facing ultrasonic radars, positioned horizontally to the front bumper along the vehicle's direction of travel. The remaining two are angular ultrasonic radars, positioned at the left and right corners of the vehicle's direction of travel, at a certain angle to the front bumper. Two side ultrasonic radars can be installed on each side of the vehicle, perpendicular to the front bumper. Different sector-shaped areas represent the detection range of each radar. When the distance information of an obstacle detected by each radar at the current moment is obtained, the distance information of the obstacle detected by the corresponding radar at the previous moment is also obtained. The vehicle's travel distance is also obtained. Based on the change in distance between the obstacle and the ultrasonic radar at the current moment and the vehicle's travel distance, the angle between the obstacle and the radar centerline before and after the vehicle's movement is calculated. This determines the target position information of each obstacle in the corresponding radar coordinate system at the current moment. The target position information is then converted to the vehicle's coordinate system to obtain the obstacle position information of each obstacle in the vehicle's coordinate system at the current moment.

[0063] For example, based on the radar data returned at the current moment and the radar data returned at the previous moment, the target position information of each obstacle in the radar coordinate system at the current moment is determined, including: for each ultrasonic radar, based on the radar data returned at the current moment and the radar data returned at the previous moment, determining the third distance between each obstacle and the ultrasonic radar at the current moment and the fourth distance between each obstacle and the ultrasonic radar at the previous moment; based on the radar data returned at the current moment and the radar data returned at the previous moment, determining the vehicle heading angle change, longitudinal movement distance, and lateral movement distance; based on the third distance, the fourth distance, the vehicle heading angle change, the longitudinal movement distance, the lateral movement distance, and the installation position information of the ultrasonic radar, determining the third angle between each obstacle and the radar centerline at the current moment; based on the third distance and the third angle, obtaining the target position information of each obstacle in the radar coordinate system corresponding to the ultrasonic radar at the current moment.

[0064] The third distance can refer to the distance between the obstacle detected by the ultrasonic radar at the current moment and the radar itself. The fourth distance can refer to the distance between the obstacle detected by the ultrasonic radar at the previous moment and the radar itself. The change in vehicle heading angle can refer to the change in the vehicle's heading angle between the previous moment and the current moment.

[0065] Specifically, if radar data detected by at least one radar at the current moment is obtained, and the analysis of the radar data yields the third distance x1 between the ultrasonic radar and the obstacle at the current moment, then the radar data corresponding to that radar at the previous moment is analyzed to obtain the fourth distance x2 between the obstacle and the radar detected by the corresponding ultrasonic radar at the previous moment. The distances moved by the ultrasonic radar in the horizontal and vertical directions are X and X1, respectively. FMLY FML The angles between the obstacle and the centerline of the ultrasonic radar at the current and previous moments are α2 and α1, respectively, and the radar's rotation angle is α. r The initial angle of the ultrasonic radar deployment is at a certain angle β relative to the vehicle body. r For each obstacle detected by the ultrasonic radar, the third angle α2 between the obstacle and the radar centerline at the current moment can be determined using the following general formula based on the parameters mentioned above:

[0066] X FL =x1·cos(α1+β) r )-x2·cos(α2+β r +α r )

[0067] Y FL =x1·sin(α1+β) r )-x2·sin(α2+β r +α r )

[0068] Solving for:

[0069]

[0070] By combining the third distance x1 and the third included angle α2, the target position information of the obstacle in the radar coordinate system corresponding to the ultrasonic radar at the current moment can be obtained.

[0071] For example, the obstacle localization process at three different locations—forward ultrasonic radar, corner ultrasonic radar, and side ultrasonic radar—is described in detail below.

[0072] For example, a forward-facing ultrasonic radar is positioned in the direction of vehicle travel, level with the front bumper, and its obstacle localization process is as follows: Figure 3 As shown, the forward-facing ultrasonic radar moves with the vehicle body. The solid-line sector and its corresponding coordinate system represent the ultrasonic radar's detection range and its coordinate system position at the previous moment. The dashed-line sector and its corresponding coordinate system represent the ultrasonic radar's detection range and its coordinate system position at the current moment. Point A is the actual position of the obstacle in the current coordinate system, and point B is the relative position of the obstacle mapped to the previous coordinate system. The relative positions of the radar and the vehicle body remain unchanged, and the vehicle's movement distance is known. Therefore, the ultrasonic radar's movement distances in the X and Y directions are XFML and YFML, respectively. From the radar data, the relative distances of obstacle point A to the ultrasonic radar before and after the vehicle's movement are the third distance x1 and the fourth distance x2, respectively. Assuming that the angles between obstacle point A and the ultrasonic radar's centerline are the third angle α2 and the fourth angle α1, respectively, and the radar's rotation angle is α...r (Counterclockwise is positive, clockwise is negative), and based on the calculation relationship, the following relationship can be obtained:

[0073] X FML = x1·cosα1-x2·cos(α2+α) r )

[0074] Y FML =x1·sinα1-x2·sin(α2+α) r )

[0075] Solving for:

[0076]

[0077]

[0078] The above calculations show that the obstacle point A is at angles α1 and α2 relative to the radar centerline before and after the vehicle moves. Based on the returned radar data and the calculated angles, the position (coordinate information) of the obstacle relative to the ultrasonic radar at the current moment can be determined.

[0079] For example, the angular ultrasonic radar is positioned at the left and right corners of the vehicle's direction of travel, maintaining a certain angle with the front bumper. Its obstacle localization process is as follows: Figure 4 As shown in the diagram, the ultrasonic radar moves with the vehicle body. The solid-line sector and its corresponding coordinate system represent the ultrasonic radar's detection range and its coordinate system position at the previous moment. The dashed-line sector and its corresponding coordinate system represent the ultrasonic radar's detection range and its coordinate system position at the current moment. Point A represents the actual position of the obstacle in the current coordinate system, and point B represents the obstacle's relative position mapped to the previous coordinate system. The relative positions of the radar and the vehicle body remain unchanged, and the vehicle's movement distance is known. Therefore, the ultrasonic radar's movement distances in the X and Y directions are XFL and YFL, respectively. From the radar data, the relative distances of obstacle point A to the ultrasonic radar before and after the vehicle's movement are the third distance x2 and the fourth distance x1, respectively. Assuming that the angles between obstacle point A and the ultrasonic radar's centerline are the third angle α2 and the fourth angle α1, respectively, and that the initial angle of the ultrasonic radar's deployment has a certain angle β with the vehicle body... r The radar's rotation angle is α. r (Counterclockwise is positive, clockwise is negative), and based on the calculation relationship, the following relationship can be obtained:

[0080] X FL =x1·cos(α1+β) r )-x2·cos(α2+β r +α r )

[0081] YFL =x1·sin(α1+β) r )-x2·sin(α2+β r +α r )

[0082] Solving for:

[0083]

[0084]

[0085] The above calculations show that the obstacle point A is at angles α1 and α2 relative to the radar centerline before and after the vehicle moves. Based on the returned radar data and the calculated angles, the position (coordinate information) of the obstacle relative to the angular ultrasonic radar at the current moment can be determined.

[0086] For example, side ultrasonic radars are arranged on the left and right sides of the vehicle, parallel to the front bumper, and their obstacle localization process is as follows: Figure 5 As shown in the diagram, the side ultrasonic radar moves with the vehicle body. The solid-line sector and its corresponding coordinate system represent the ultrasonic radar's detection range and its coordinate system position at the previous moment. The dashed-line sector and its corresponding coordinate system represent the ultrasonic radar's detection range and its coordinate system position at the current moment. Point A is the actual position of the obstacle in the current coordinate system, and point B is the relative position of the obstacle mapped to the previous coordinate system. The relative positions of the radar and the vehicle body remain unchanged, and the vehicle's movement distance is known. Therefore, the ultrasonic radar's movement distances in the X and Y directions are XFLS and YFLS, respectively. From the radar data, the relative distances of obstacle point A to the ultrasonic radar before and after the vehicle's movement are the third distance x2 and the fourth distance x1, respectively. It is assumed that the angles between obstacle point A and the centerline of the ultrasonic radar are the third angle α2 and the fourth angle α1, respectively. The initial angle of the ultrasonic radar's deployment has a certain angle β with the vehicle body. r The radar's rotation angle is α. r (Counterclockwise is positive, clockwise is negative), and based on the calculation relationship, the following relationship can be obtained:

[0087] X FLS =x1·cos(α1+β) r )-x2·cos(α2+β r +α r )

[0088] Y FLS =x1·sin(α1+β) r )-x2·sin(α2+β r +α r )

[0089] Solving for:

[0090]

[0091]

[0092] The above calculations show that the obstacle point A is at angles α1 and α2 relative to the radar centerline before and after the vehicle moves. Based on the returned radar data and the calculated angles, the position (coordinate information) of the obstacle relative to the side ultrasonic radar at the current moment can be determined.

[0093] Example 2

[0094] Figure 6 This is a flowchart of a vehicle obstacle avoidance method according to Embodiment 2 of the present invention. Based on the above embodiments, this embodiment optimizes the step "determining the target obstacle to be avoided from each candidate obstacle based on the first distance and first included angle corresponding to each candidate obstacle, and the second distance and second included angle corresponding to each corner point, and controlling the vehicle to perform obstacle avoidance processing on the target obstacle" when the corner points are a first corner point located at the upper right corner of the vehicle and a second corner point located at the lower left corner of the vehicle. Explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here.

[0095] See Figure 6 Another obstacle decision-making method provided in this embodiment specifically includes the following steps:

[0096] S210. Determine the position information of all obstacles around the vehicle when it turns, and determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle.

[0097] S220. Based on the location information of each obstacle and the location information of the instantaneous turning center, determine the first distance and the first included angle between each obstacle and the instantaneous turning center.

[0098] S230. Based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center, determine the second distance and the second included angle between each corner point and the instantaneous turning center.

[0099] Specifically, when the corner points include a first corner point located at the upper right corner of the vehicle and a second corner point located at the lower left corner of the vehicle, the second distance and the second included angle between the first corner point and the instantaneous turning center can be determined based on the position information of the first corner point and the position information of the instantaneous turning center, and the second distance and the second included angle between the second corner point and the instantaneous turning center can be determined based on the position information of the second corner point and the position information of the instantaneous turning center.

[0100] S240. Based on vehicle body size information and instantaneous turning center position information, determine the closest and furthest distances from the instantaneous turning center on the vehicle's longitudinal axis.

[0101] S250: Based on the first distance, second distance, closest distance, and farthest distance, determine the candidate obstacles that need to be avoided from among the various obstacles.

[0102] S260. Based on the first distance and first included angle corresponding to each candidate obstacle and the second included angle corresponding to the second corner point, determine the target obstacle that needs to be avoided from the area where the rear of the vehicle passes when turning from each candidate obstacle.

[0103] Specifically, based on the first distance and first included angle corresponding to each candidate obstacle and the second included angle corresponding to the left rear corner of the vehicle, obstacles with a first included angle smaller than the second included angle are identified as target obstacles that need to be avoided when the vehicle turns and are located within the area swept by the rear. Obstacles with a first distance between the second distance corresponding to the left rear corner of the vehicle and the farthest distance on the vehicle's longitudinal axis from the instantaneous turning center are identified as target obstacles that need to be avoided when the vehicle turns and are located within the area swept by the rear.

[0104] For example, S260 may include: determining a first angle range corresponding to the area swept by the rear of the vehicle when turning, based on a second included angle corresponding to a second corner point; determining a sweep distance range corresponding to the area swept by the rear of the vehicle when turning, based on a second distance and a farthest distance corresponding to the second corner point; detecting whether the first included angle corresponding to each candidate obstacle is within the first included angle range and whether the first distance is within the sweep distance range; and determining candidate obstacles within the first included angle range and the sweep distance range as target obstacles that need to be avoided when the vehicle is turning and located within the area swept by the rear of the vehicle.

[0105] Specifically, based on the second included angle corresponding to the outer rear corner point when the vehicle turns, the range of angles greater than the second included angle is determined as the first included angle range corresponding to the area swept by the rear of the vehicle when turning; based on the distance and the farthest distance between the instantaneous turning center of the vehicle and the outer rear second corner point, the annular area formed by these two distances rotating around the instantaneous turning center is determined as the sweeping distance range corresponding to the area swept by the rear of the vehicle when turning; it is detected whether the first included angle corresponding to each candidate obstacle is within the first included angle range and whether the first distance is within the sweeping distance range, and candidate obstacles within the first included angle range and the sweeping distance range are determined as target obstacles that need to be avoided when the vehicle is in the area swept by the rear of the vehicle when turning.

[0106] For example, as follows Figure 7 As shown, θ D It is the second included angle corresponding to the second corner point D, θ n The first angle between the line connecting the obstacle and the instantaneous turning center and the vehicle's lateral axis will be greater than the second angle θ. D The angle range is determined as the first included angle range corresponding to the area swept by the rear of the vehicle when turning, if θn Greater than θ D If the obstacle is behind the vehicle, then the obstacle is ignored, and the obstacle avoidance calculation process ends; R ymax R ymin These refer to the closest and furthest distances of the vehicle from the instantaneous center of the turn along the longitudinal axis, R. n It is the first distance between the obstacle and the instantaneous turning center, used to determine R. n Is it within the distance range [R]? ymax ,R D If the obstacle is located within the area swept by the rear ND of the vehicle, obstacle avoidance is required. If R n Greater than R D If the obstacle is located outside the vehicle's turning radius but outside the obstacle avoidance range, simply observe the obstacle's movement trajectory. If R... n Less than R ymax If the obstacle is cleared, proceed to the next step of obstacle avoidance zone determination. It should be noted that if obstacles in the outer area of ​​AN move away from the vehicle relative to it when the vehicle is turning, no obstacle avoidance processing is required in the area AN passes through.

[0107] S270. Based on the first distance and first included angle corresponding to each candidate obstacle, and the second included angle and second distance corresponding to the second corner point, determine the target obstacle that needs to be avoided in the inner front area when the vehicle turns from each candidate obstacle, and control the vehicle to avoid the target obstacle.

[0108] Specifically, based on the second included angle and second distance corresponding to the second corner point on the inner side in front of the vehicle turning, and the preset moving arc length, the angle range between the second included angle corresponding to the second corner point on the inner side in front of the vehicle turning and the central angle corresponding to the preset moving arc length and 90 degrees is determined as the second included angle range. It is then detected whether the first included angle corresponding to each candidate obstacle is within the second included angle range to obtain the candidate obstacles within the second included angle range. Based on the first distance and first included angle corresponding to the candidate obstacles, the predicted position information of the candidate obstacles after moving the preset moving arc length is determined. Based on the predicted position information and the position information of the first corner point, the target obstacle that needs to be avoided in the inner front area when the vehicle turns is determined from each candidate obstacle.

[0109] For example, S270 may include: determining the range of the second included angle corresponding to the inner front area when the vehicle turns, based on the second included angle and the second distance corresponding to the first corner point and the preset movement arc length; detecting whether the first included angle corresponding to each candidate obstacle is within the range of the second included angle, and obtaining the candidate obstacles within the range of the second included angle; determining the predicted position information of the candidate obstacle after moving the preset movement arc length based on the first distance and the first included angle corresponding to the candidate obstacle; and determining the target obstacle that needs to be avoided in the inner front area when the vehicle turns from each candidate obstacle based on the predicted position information and the position information of the second corner point.

[0110] The preset moving arc length can refer to the vehicle's longitudinal obstacle avoidance distance.

[0111] Specifically, based on the preset arc length, the corresponding central angle is obtained. Obstacles within the range between the second included angle corresponding to the first corner point in front of the vehicle's inner side when turning and the central angle corresponding to the preset arc length, and 90 degrees, are determined as the second included angle range. It is then detected whether the first included angle corresponding to each candidate obstacle is within the second included angle range to obtain the candidate obstacles within the second included angle range. Based on the first distance and the first included angle corresponding to the candidate obstacle, it is determined whether the predicted position information of the candidate obstacle after moving relative to the vehicle by the preset arc length intersects with the area where the vehicle is located. If so, the candidate obstacle is determined to be the target obstacle that needs to be avoided when the vehicle is turning and located in the area in front of the inner side.

[0112] For example, such as Figure 7 As shown, if θ n Less than or equal to 90°, greater than or equal to (θ) B -l / R B When l is the preset arc length of movement, the obstacle is located in the area inside and in front of the vehicle during the turn. At this point, it is necessary to compare the predicted movement range of different points on the vehicle body with the obstacle data. Since this forward inference step is relatively complicated, the calculation process can be reversed. Treating the vehicle and the obstacle as a relative motion, with the vehicle "stationary" and the obstacle's movement arc length l, the position coordinates of the obstacle when the vehicle is stationary are determined. If the horizontal and vertical coordinates of the obstacle are both less than the coordinates corresponding to the second corner point B, it means the obstacle is within the obstacle avoidance range of l from the vehicle, requiring an obstacle avoidance strategy. This obstacle is the target obstacle in the inner front area of ​​the vehicle during the turn and needs to be avoided. If the condition is not met, the obstacle is not within the obstacle avoidance range and is discarded. When the number of obstacles at the current moment is calculated, the obstacle avoidance result for the current moment is calculated, input into the execution layer for judgment and execution, and waits to enter the next moment. It should be noted that... Figure 5 Obstacles within the area MC traverses are moving relatively far away from the vehicle and can be ignored.

[0113] For example, based on the first distance and the first included angle corresponding to the candidate obstacle, the predicted position information after the candidate obstacle moves by a preset moving arc length is determined, including: based on the first distance and the preset moving arc length corresponding to the candidate obstacle, determining the angle change after the candidate obstacle moves by the preset moving arc length; based on the angle change and the first included angle corresponding to the candidate obstacle, determining the predicted included angle after the candidate obstacle moves by the preset moving arc length; converting the first distance and the predicted included angle corresponding to the candidate obstacle into the vehicle coordinate system to obtain the predicted position information after the candidate obstacle moves by the preset moving arc length.

[0114] Specifically, it is necessary to compare the predicted movement range of different points on the vehicle body with the obstacle position information. Since forward inference is relatively complicated, the calculation process can be reversed. Treat the vehicle and the obstacle as a relative motion, with the vehicle "stationary" and the obstacle moving a preset arc length. Determine the corresponding central angle based on the preset arc length. This central angle is the angular change of the candidate obstacle after moving the preset arc length. Rotate the first included angle corresponding to the candidate obstacle counterclockwise by the vehicle's heading angle by a preset arc length to determine the corresponding central angle, obtaining the predicted included angle after the candidate obstacle moves the preset arc length. Based on the first distance corresponding to the candidate obstacle and the predicted included angle, obtain the predicted position information of the candidate obstacle after moving the preset arc length in the vehicle coordinate system when the vehicle is stationary.

[0115] For example, such as Figure 7 As shown, the vehicle and the obstacle are considered to be in relative motion. The vehicle is "stationary," and the obstacle's arc length is l. Based on the first distance R of the obstacle... n After predicting the arc length of the obstacle's movement l relative to the vehicle, the distance and the angle between the obstacle's coordinates and the vector are R and R, respectively. n 、(θ n +l / R n Transform the obstacle coordinate system to obtain the obstacle's position in the vehicle coordinate system as (x, y). n+l y n+l If x n+l Less than or equal to x B And y n+l Less than or equal to y B If the condition is met, it means that the obstacle is within the obstacle avoidance range of the vehicle at a distance of l, and an obstacle avoidance strategy is required. If the condition is not met, the obstacle is not within the obstacle avoidance range, and the obstacle is abandoned.

[0116] The technical solution of this invention determines the target obstacle that needs to be avoided when the vehicle turns, located within the area its rear end passes through, based on the first distance and first included angle corresponding to each candidate obstacle, and the second included angle corresponding to the second corner point. It then determines the target obstacle that needs to be avoided when the vehicle turns, located within the area in front of the vehicle's inner side, based on the first distance and first included angle corresponding to each candidate obstacle, and the second included angle and second distance corresponding to the first corner point. This allows for the reasonable and dynamic release of the obstacle avoidance area and increases the blind spot obstacle avoidance range, making it more accurate and safer than traditional obstacle avoidance methods.

[0117] Example 3

[0118] Figure 8 This is a structural schematic diagram of a vehicle obstacle avoidance device provided in Embodiment 3 of the present invention. Figure 8 As shown, the device includes: an instantaneous turning center determination module 310, a first determination module 320, a second determination module 330, a distance determination module 340, a candidate obstacle determination module 350, and an obstacle avoidance processing module 360.

[0119] The instantaneous turning center determination module 310 is used to determine the position information of various obstacles around the vehicle when it turns, and to determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle.

[0120] The first determining module 320 is used to determine a first distance and a first angle between each obstacle and the instantaneous turning center based on the position information of each obstacle and the position information of the instantaneous turning center. The first angle is the angle between the line connecting the obstacle and the instantaneous turning center and the lateral axis of the vehicle.

[0121] The second determining module 330 is used to determine a second distance and a second included angle between each corner point and the instantaneous turning center based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center. The second included angle is the angle between the line connecting the corner point and the instantaneous turning center and the lateral axis of the vehicle.

[0122] The distance determination module 340 determines the closest and furthest distances from the instantaneous turning center on the vehicle's longitudinal axis based on the vehicle's size information and the instantaneous turning center position information.

[0123] The candidate obstacle determination module 350 is used to determine candidate obstacles that need to be avoided from among various obstacles based on the first distance, the second distance, the nearest distance and the farthest distance;

[0124] The obstacle avoidance module 360 ​​determines the target obstacle to be avoided from each candidate obstacle based on the first distance and first included angle corresponding to each candidate obstacle and the second distance and second included angle corresponding to each corner point, and controls the vehicle to perform obstacle avoidance processing on the target obstacle.

[0125] The technical solution of this embodiment determines the position information of various obstacles around the vehicle when it turns, and determines the instantaneous turning center position information of the vehicle based on the vehicle's heading angle. Based on the position information of each obstacle and the instantaneous turning center position information, a first distance and a first included angle between each obstacle and the instantaneous turning center are determined. Based on the position information of at least two corner points of the vehicle and the instantaneous turning center position information, a second distance and a second included angle between each corner point and the instantaneous turning center are determined. Based on the vehicle body size information and the instantaneous turning center position information, the closest distance to the instantaneous turning center on the vehicle's longitudinal axis is determined. The system first determines the distance to the nearest and farthest obstacles. Based on the first distance, second distance, nearest distance, and farthest distance, it initially identifies candidate obstacles that need to be avoided in terms of distance. Based on the first distance and first included angle corresponding to each candidate obstacle, and the second distance and second included angle corresponding to each corner point, it further identifies target obstacles that need to be avoided in terms of both angle and distance from each candidate obstacle. The system then controls the vehicle to avoid only the target obstacles that need to be avoided, thereby achieving obstacle positioning and avoidance when the vehicle is turning, enhancing the vehicle's ability to pass through passable areas, and improving the vehicle's obstacle avoidance ability in obstacle avoidance scenarios.

[0126] Optionally, the instantaneous turning center determination module 310 includes:

[0127] A radar data acquisition unit is used to acquire radar data returned by each ultrasonic radar at the current moment when the vehicle turns, and at least one ultrasonic radar is installed around the vehicle.

[0128] The target location information determination unit is used to determine the target location information of each obstacle in the radar coordinate system at the current moment based on the radar data returned at the current moment and the radar data returned at the previous moment.

[0129] The obstacle location information acquisition unit is used to convert the target location information into the vehicle coordinate system to obtain the obstacle location information of each obstacle in the vehicle coordinate system at the current moment.

[0130] Optionally, the target location information determination unit is specifically used for: for each ultrasonic radar, based on the radar data returned by the ultrasonic radar at the current moment and the radar data returned at the previous moment, determining the third distance between each obstacle and the ultrasonic radar at the current moment and the fourth distance between each obstacle and the ultrasonic radar at the previous moment; based on the radar data returned by the ultrasonic radar at the current moment and the radar data returned at the previous moment, determining the vehicle heading angle change, longitudinal movement distance, and lateral movement distance; based on the third distance, the fourth distance, the vehicle heading angle change, the longitudinal movement distance, the lateral movement distance, and the installation position information of the ultrasonic radar, determining the third angle between each obstacle and the radar centerline at the current moment; and based on the third distance and the third angle, obtaining the target location information of each obstacle in the radar coordinate system corresponding to the ultrasonic radar at the current moment.

[0131] Optionally, the candidate obstacle determination module 350 includes:

[0132] An obstacle avoidance range determination unit is used to determine an obstacle avoidance distance range based on the second distance, the nearest distance, and the farthest distance;

[0133] The candidate obstacle determination unit is used to detect whether the first distance corresponding to each obstacle is within the obstacle avoidance distance range, and to determine the obstacles within the obstacle avoidance distance range as candidate obstacles that need to be avoided.

[0134] Optionally, the corner points include: a first corner point located at the upper right corner of the vehicle and a second corner point located at the lower left corner of the vehicle.

[0135] The obstacle avoidance module 360 ​​includes:

[0136] The rear area obstacle determination unit is used to determine the target obstacle that needs to be avoided in the rear area when the vehicle turns, based on the first distance and first included angle corresponding to each candidate obstacle and the second included angle corresponding to the second corner point.

[0137] The inner front area obstacle determination unit is used to determine the target obstacle that needs to be avoided when the vehicle turns, based on the first distance and first included angle corresponding to each candidate obstacle, and the second included angle and second distance corresponding to the first corner point.

[0138] Optionally, the tail region obstacle determination unit includes:

[0139] The first included angle range determination subunit is used to determine the first included angle range corresponding to the area swept by the rear of the vehicle when turning, based on the second included angle corresponding to the second corner point;

[0140] The rear sweep area determination subunit is used to determine the sweep distance range corresponding to the rear sweep area when the vehicle turns, based on the second distance corresponding to the second corner point and the farthest distance.

[0141] The range detection subunit detects whether the first included angle corresponding to each candidate obstacle is within the range of the first included angle, and whether the first distance is within the range of the swept distance;

[0142] The rear area obstacle determination subunit determines candidate obstacles within the first included angle range and the passing distance range as target obstacles that need to be avoided when the vehicle turns within the rear passing area.

[0143] Optionally, the obstacle determination unit for the inner front region includes:

[0144] The second included angle range determination subunit is used to determine the second included angle range corresponding to the inner front area when the vehicle turns, based on the second included angle and second distance corresponding to the first corner point and the preset moving arc length.

[0145] The candidate obstacle determination subunit is used to detect whether the first included angle corresponding to each candidate obstacle is within the range of the second included angle, and to obtain the candidate obstacles within the range of the second included angle;

[0146] The predicted position information determination subunit is used to determine the predicted position information of the candidate obstacle after it has moved by the preset movement arc length, based on the first distance and the first included angle corresponding to the candidate obstacle.

[0147] The inner front area obstacle determination subunit is used to determine the target obstacle that needs to be avoided in the inner front area when the vehicle turns, based on the predicted position information and the position information of the first corner point.

[0148] Optionally, the predicted position information determination subunit is specifically used for: determining the angular change of the candidate obstacle after it moves by the preset moving arc length based on the first distance corresponding to the candidate obstacle and the preset moving arc length; determining the predicted angle of the candidate obstacle after it moves by the preset moving arc length based on the angular change and the first included angle corresponding to the candidate obstacle; and converting the first distance corresponding to the candidate obstacle and the predicted included angle into the vehicle coordinate system to obtain the predicted position information of the candidate obstacle after it moves by the preset moving arc length.

[0149] The safety production risk early warning device provided in the embodiments of the present invention can execute the safety production risk early warning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0150] Figure 9A schematic diagram of an electronic device 12 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as desktop computers, workbenches, servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0151] like Figure 9 As shown, the electronic device 12 is represented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0152] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0153] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0154] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 9 Not shown; usually referred to as a "hard drive"). Although Figure 9Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0155] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0156] Electronic device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 12, and / or with any device that enables electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via input / output (I / O) interface 22. Furthermore, electronic device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with other modules of electronic device 12 via bus 18. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0157] Processing unit 16 executes various functional applications and data processing by running programs stored in system memory 28, such as implementing the steps of a vehicle obstacle avoidance method provided in this embodiment, the method including:

[0158] Determine the position information of all obstacles around the vehicle when it turns, and determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle;

[0159] Based on the location information of each obstacle and the location information of the instantaneous turning center, a first distance and a first angle between each obstacle and the instantaneous turning center are determined. The first angle is the angle between the line connecting the obstacle and the instantaneous turning center and the vehicle's lateral axis.

[0160] Based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center, determine the second distance and the second included angle between each corner point and the instantaneous turning center, wherein the second included angle is the angle between the line connecting the corner point and the instantaneous turning center and the vehicle's lateral axis;

[0161] Based on vehicle size information and instantaneous turning center position information, determine the closest and farthest distances from the instantaneous turning center along the vehicle's longitudinal axis;

[0162] Based on the first distance, the second distance, the nearest distance, and the farthest distance, candidate obstacles that need to be avoided are determined from among the various obstacles;

[0163] Based on the first distance and first included angle corresponding to each candidate obstacle, and the second distance and second included angle corresponding to each corner point, the target obstacle that needs to be avoided is determined from each candidate obstacle, and the vehicle is controlled to perform obstacle avoidance processing on the target obstacle.

[0164] Of course, those skilled in the art will understand that the processor can also implement the technical solutions of the vehicle obstacle avoidance method provided in any embodiment of the present invention.

[0165] This embodiment provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements the vehicle obstacle avoidance method steps provided in any embodiment of the present invention. The method includes:

[0166] Determine the position information of all obstacles around the vehicle when it turns, and determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle;

[0167] Based on the location information of each obstacle and the location information of the instantaneous turning center, a first distance and a first angle between each obstacle and the instantaneous turning center are determined. The first angle is the angle between the line connecting the obstacle and the instantaneous turning center and the vehicle's lateral axis.

[0168] Based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center, determine the second distance and the second included angle between each corner point and the instantaneous turning center, wherein the second included angle is the angle between the line connecting the corner point and the instantaneous turning center and the vehicle's lateral axis;

[0169] Based on vehicle size information and instantaneous turning center position information, determine the closest and farthest distances from the instantaneous turning center along the vehicle's longitudinal axis;

[0170] Based on the first distance, the second distance, the nearest distance, and the farthest distance, candidate obstacles that need to be avoided are determined from among the various obstacles;

[0171] Based on the first distance and first included angle corresponding to each candidate obstacle, and the second distance and second included angle corresponding to each corner point, the target obstacle that needs to be avoided is determined from each candidate obstacle, and the vehicle is controlled to perform obstacle avoidance processing on the target obstacle.

[0172] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0173] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0174] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0175] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as 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 local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0176] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0177] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A vehicle obstacle avoidance method, characterized in that, include: Determine the position information of all obstacles around the vehicle when it turns, and determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle; Based on the location information of each obstacle and the location information of the instantaneous turning center, a first distance and a first angle between each obstacle and the instantaneous turning center are determined. The first angle is the angle between the line connecting the obstacle and the instantaneous turning center and the vehicle's lateral axis. Based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center, determine the second distance and the second included angle between each corner point and the instantaneous turning center, wherein the second included angle is the angle between the line connecting the corner point and the instantaneous turning center and the vehicle's lateral axis; Based on vehicle size information and instantaneous turning center position information, determine the closest and farthest distances from the instantaneous turning center along the vehicle's longitudinal axis; Based on the first distance, the second distance, the nearest distance, and the farthest distance, candidate obstacles that need to be avoided are determined from among the various obstacles; Based on the first distance and first included angle corresponding to each candidate obstacle, and the second distance and second included angle corresponding to each corner point, the target obstacle that needs to be avoided is determined from each candidate obstacle, and the vehicle is controlled to perform obstacle avoidance processing on the target obstacle.

2. The method according to claim 1, characterized in that, The determination of the position information of various obstacles around the vehicle when it turns includes: The radar data returned by each ultrasonic radar at the current moment when the vehicle turns is obtained, and at least one ultrasonic radar is installed at the four sides of the vehicle. Based on the radar data returned at the current moment and the radar data returned at the previous moment, determine the target position information of each obstacle in the radar coordinate system at the current moment; The target location information is converted into the vehicle coordinate system to obtain the obstacle location information of each obstacle in the vehicle coordinate system at the current moment.

3. The method according to claim 2, characterized in that, The determination of the target position information of each obstacle in the radar coordinate system at the current moment, based on the radar data returned at the current moment and the radar data returned at the previous moment, includes: For each ultrasonic radar, based on the radar data returned by the ultrasonic radar at the current moment and the radar data returned at the previous moment, the third distance between each obstacle and the ultrasonic radar at the current moment and the fourth distance between each obstacle and the ultrasonic radar at the previous moment are determined. Based on the radar data returned by the ultrasonic radar at the current moment and the radar data returned at the previous moment, the change in the vehicle's heading angle, longitudinal movement distance, and lateral movement distance are determined. Based on the third distance, the fourth distance, the change in vehicle heading angle, the longitudinal movement distance, the lateral movement distance, and the installation location information of the ultrasonic radar, the third included angle between each obstacle and the radar centerline at the current moment is determined; Based on the third distance and the third included angle, the target position information of each obstacle in the radar coordinate system corresponding to the ultrasonic radar at the current moment is obtained.

4. The method according to claim 1, characterized in that, The step of determining candidate obstacles to be avoided from among various obstacles based on the first distance, the second distance, the nearest distance, and the farthest distance includes: The obstacle avoidance distance range is determined based on the second distance, the nearest distance, and the farthest distance; Detect whether the first distance corresponding to each obstacle is within the obstacle avoidance distance range, and determine the obstacles within the obstacle avoidance distance range as candidate obstacles that need to be avoided.

5. The method according to claim 1, characterized in that, The corner points include: a first corner point located at the upper right corner of the vehicle and a second corner point located at the lower left corner of the vehicle; The process of determining the target obstacle to be avoided from each candidate obstacle based on the first distance and first included angle corresponding to each candidate obstacle, and the second distance and second included angle corresponding to each corner point, includes: Based on the first distance and first included angle corresponding to each candidate obstacle and the second included angle corresponding to the second corner point, the target obstacle that needs to be avoided in the area swept by the rear of the vehicle when turning is determined from each candidate obstacle; Based on the first distance and first included angle corresponding to each candidate obstacle, and the second included angle and second distance corresponding to the first corner point, the target obstacle that needs to be avoided in the inner front area when the vehicle turns is determined from each candidate obstacle.

6. The method according to claim 5, characterized in that, The process of determining the target obstacle that needs to be avoided from the vehicle's rear end area during turning, based on the first distance and first included angle corresponding to each candidate obstacle and the second included angle corresponding to the second corner point, includes: Based on the second included angle corresponding to the second corner point, determine the range of the first included angle corresponding to the area swept by the rear of the vehicle when turning; Based on the second distance corresponding to the second corner point and the farthest distance, determine the range of the sweep distance corresponding to the area swept by the rear of the vehicle when turning; Detect whether the first included angle corresponding to each candidate obstacle is within the range of the first included angle, and whether the first distance is within the range of the swept distance; Candidate obstacles within the first included angle range and the range of the passing distance are identified as target obstacles that need to be avoided when the vehicle turns and is located in the area passed by the rear.

7. The method according to claim 5, characterized in that, The method of determining the target obstacle that needs to be avoided in the inner front area when the vehicle turns, based on the first distance and first included angle corresponding to each candidate obstacle, and the second included angle and second distance corresponding to the first corner point, includes: Based on the second included angle and second distance corresponding to the first corner point and the preset moving arc length, the range of the second included angle corresponding to the inner front area when the vehicle turns is determined. Detect whether the first included angle corresponding to each candidate obstacle is within the range of the second included angle, and obtain the candidate obstacles within the range of the second included angle; Based on the first distance and the first included angle corresponding to the candidate obstacle, the predicted position information of the candidate obstacle after moving by the preset moving arc length is determined; Based on the predicted location information and the location information of the first corner point, the target obstacle that needs to be avoided in the inner front area when the vehicle turns is determined from each candidate obstacle.

8. The method according to claim 7, characterized in that, The step of determining the predicted position information of the candidate obstacle after it has moved the preset movement arc length based on the first distance and the first included angle corresponding to the candidate obstacle includes: Based on the first distance corresponding to the candidate obstacle and the preset movement arc length, determine the angular change of the candidate obstacle after it moves by the preset movement arc length; Based on the angle change and the first included angle corresponding to the candidate obstacle, the predicted included angle after the candidate obstacle moves by the preset moving arc length is determined; The first distance corresponding to the candidate obstacle and the predicted angle are converted into the vehicle coordinate system to obtain the predicted position information of the candidate obstacle after it moves by the preset moving arc length.

9. A vehicle obstacle avoidance device, characterized in that, include: The instantaneous turning center determination module is used to determine the position information of various obstacles around the vehicle when it turns, and to determine the instantaneous turning center position information of the vehicle based on the vehicle's heading angle. The first determining module is used to determine a first distance and a first angle between each obstacle and the instantaneous turning center based on the position information of each obstacle and the position information of the instantaneous turning center. The first angle is the angle between the line connecting the obstacle and the instantaneous turning center and the lateral axis of the vehicle. The second determining module is used to determine a second distance and a second included angle between each corner point and the instantaneous turning center based on the position information of at least two corner points of the vehicle and the position information of the instantaneous turning center. The second included angle is the angle between the line connecting the corner point and the instantaneous turning center and the lateral axis of the vehicle. The distance determination module is used to determine the closest and furthest distances from the instantaneous turning center on the vehicle's longitudinal axis, based on vehicle size information and instantaneous turning center position information. The candidate obstacle determination module is used to determine candidate obstacles that need to be avoided from among various obstacles based on the first distance, the second distance, the nearest distance and the farthest distance; The obstacle avoidance module is used to determine the target obstacle to be avoided from each candidate obstacle based on the first distance and first included angle corresponding to each candidate obstacle and the second distance and second included angle corresponding to each corner point, and to control the vehicle to perform obstacle avoidance processing on the target obstacle.

10. 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; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle obstacle avoidance method according to any one of claims 1-8.

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