Unmanned vehicle, control method thereof, storage medium and vehicle controller

Abstract

The application discloses an unmanned vehicle and a control method, a storage medium and a vehicle controller thereof, and the method comprises the following steps: acquiring environmental information around the unmanned vehicle; when the unmanned vehicle is in a static power-off state, judging whether the unmanned vehicle has a collision risk according to the environmental information; when it is determined that the unmanned vehicle has a collision risk, powering on the unmanned vehicle, and controlling the unmanned vehicle to perform an obstacle avoidance action according to the environmental information. Therefore, the method can control the unmanned vehicle to actively avoid obstacles under the premise of safe driving.

Description

Technical Field

[0001] This invention relates to the field of autonomous vehicle technology, and in particular to an autonomous vehicle control method, a computer-readable storage medium, a vehicle controller, and an autonomous vehicle. Background Technology

[0002] With the continuous development of autonomous driving technology, major companies are constantly improving autonomous driving functions in different scenarios. Among them, active obstacle avoidance is a key foundation for autonomous vehicles, and good obstacle avoidance ability determines the overall performance of the vehicle.

[0003] While existing technologies have analyzed the lane-changing trajectory planning problem of autonomous vehicles in detail and proposed various vehicle path planning models, they lack detailed active obstacle avoidance solutions. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a control method for autonomous vehicles that enables them to actively avoid obstacles while ensuring safe driving.

[0005] A second objective of this invention is to provide a computer-readable storage medium.

[0006] The third objective of this invention is to provide a vehicle controller.

[0007] The fourth objective of this invention is to propose an unmanned vehicle.

[0008] To achieve the above objectives, a first aspect of the present invention provides a control method for an unmanned vehicle, the method comprising: acquiring environmental information surrounding the unmanned vehicle; when the unmanned vehicle is in a stationary, power-off state, determining whether the unmanned vehicle has a collision risk based on the environmental information; when it is determined that the unmanned vehicle has a collision risk, controlling the unmanned vehicle to power on, and controlling the unmanned vehicle to perform obstacle avoidance actions based on the environmental information.

[0009] The control method for unmanned vehicles according to embodiments of the present invention can control unmanned vehicles to actively avoid obstacles while ensuring safe driving.

[0010] In addition, the control method for unmanned vehicles in this embodiment of the invention may also have the following additional technical features:

[0011] According to an embodiment of the present invention, determining whether the unmanned vehicle has a collision risk based on the environmental information includes: when the environmental information detects that there is a target obstacle in the obstacle avoidance route planning area of ​​the unmanned vehicle, determining that the unmanned vehicle has a collision risk, wherein the target obstacle is an obstacle in the obstacle avoidance route planning area that is close to the unmanned vehicle and has no tendency to stop.

[0012] According to one embodiment of the present invention, controlling the autonomous vehicle to perform obstacle avoidance actions based on the environmental information includes: obtaining a first distance between the target obstacle and the autonomous vehicle, and obstacle information of the obstacle avoidance route planning area of ​​the autonomous vehicle, based on the environmental information; and controlling the autonomous vehicle to move away from the target obstacle based on the first distance and the obstacle avoidance route planning area, so as to avoid collision with obstacles in the obstacle avoidance route planning area while avoiding the target obstacle.

[0013] Further, controlling the autonomous vehicle to move away from the target obstacle based on the first distance and the obstacle information of the obstacle avoidance route planning area includes: when the first distance decreases to a first preset distance threshold, and there are no obstacles in the obstacle avoidance route planning area of ​​the autonomous vehicle or the second distance between the obstacle in the obstacle avoidance route planning area and the autonomous vehicle is greater than a second preset distance threshold, controlling the autonomous vehicle to move away from the target obstacle.

[0014] According to an embodiment of the present invention, controlling the unmanned vehicle to perform obstacle avoidance actions based on the environmental information further includes: obtaining the speed at which the target obstacle approaches the unmanned vehicle based on the environmental information; and controlling the unmanned vehicle to move away from the target obstacle based on the first distance, the speed, and obstacle information of the obstacle avoidance route planning area.

[0015] According to one embodiment of the present invention, when it is determined that the unmanned vehicle has a collision risk, the method further includes: controlling the unmanned vehicle to issue an alarm signal.

[0016] According to an embodiment of the present invention, the method further includes: when it is detected that the distance the unmanned vehicle has moved away from the target obstacle reaches a third preset distance, controlling the unmanned vehicle to stop moving away from the target obstacle and continuously issuing the alarm signal; after it is determined from the environmental information that the unmanned vehicle has successfully avoided the obstacle, controlling the unmanned vehicle to stop issuing the alarm signal and controlling the unmanned vehicle to power down.

[0017] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the control method for the unmanned vehicle.

[0018] To achieve the above objectives, a third aspect of the present invention provides a vehicle controller, including a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, it implements the control method for the unmanned vehicle.

[0019] To achieve the above objectives, a fourth aspect of the present invention provides an unmanned vehicle, including the vehicle controller.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a control method for an unmanned vehicle according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of active obstacle avoidance in the blind spot of a large truck according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of an embodiment of the present invention for active parking space avoidance;

[0024] Figure 4 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of an unmanned vehicle according to an embodiment of the present invention. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] The following is a reference appendix. Figure 1-5 This invention describes an unmanned vehicle and its control method, storage medium, and vehicle controller according to embodiments of the present invention.

[0028] Figure 1 This is a flowchart illustrating a control method for an unmanned vehicle according to an embodiment of the present invention. Figure 1As shown, the control method for autonomous vehicles includes the following steps:

[0029] S101. Obtain environmental information around the autonomous vehicle.

[0030] Specifically, environmental information around the autonomous vehicle can be obtained through cameras, millimeter-wave radar, and lidar. Among them, cameras are mainly used to detect images around the autonomous vehicle in real time, while millimeter-wave radar and lidar are mainly used to detect 3D point cloud information.

[0031] S102. When the autonomous vehicle is stationary and powered down, determine whether there is a collision risk based on environmental information.

[0032] Specifically, when the autonomous vehicle is stationary and powered off, determining whether there is a collision risk based on environmental information may include: if the environmental information detects a target obstacle in the obstacle avoidance route planning area of ​​the autonomous vehicle, it is determined that there is a collision risk for the autonomous vehicle. The target obstacle is an obstacle in the obstacle avoidance route planning area that is close to the autonomous vehicle and has no tendency to stop.

[0033] Specifically, when the autonomous vehicle is stationary and powered down, if environmental information detects an obstacle approaching the vehicle within its obstacle avoidance planning area that shows no sign of stopping, then the autonomous vehicle is deemed to pose a collision risk. It should be noted that the obstacle avoidance planning area can be a pre-defined area surrounding the autonomous vehicle, which can be specified as needed. For example: See [link to relevant documentation]. Figure 2 The target obstacle is a large truck. An autonomous vehicle, stationary and powered down, is parked on the side of the road in the blind spot behind the truck. The truck driver cannot see the autonomous vehicle directly behind it due to the blind spot. If the always-on camera on the autonomous vehicle detects that the truck is reversing without stopping, then the autonomous vehicle is deemed to pose a collision risk. (See also...) Figure 3 The target obstacle is the adjacent vehicle. When the autonomous vehicle and other vehicles are parked in the parking space at the same time, the adjacent vehicle needs to leave the parking space. If the autonomous vehicle blocks the adjacent vehicle's exit route, and the camera detects that the adjacent vehicle is approaching the autonomous vehicle and does not show any signs of stopping, it is determined that there is a collision risk to the autonomous vehicle.

[0034] S103. When it is determined that there is a collision risk to the driverless vehicle, the driverless vehicle is powered on and is controlled to perform obstacle avoidance actions based on environmental information.

[0035] Specifically, if there is a risk of collision for the autonomous vehicle, the autonomous vehicle ECU (Electronic Control Unit) will power on the autonomous vehicle and issue control commands to perform obstacle avoidance actions based on environmental information measured by sensors such as millimeter-wave radar and lidar, in order to avoid a collision.

[0036] It should be noted that when a collision risk is determined to exist for an autonomous vehicle, the control methods may also include: controlling the autonomous vehicle to issue an alarm signal. For example: see... Figure 2 Assuming the target obstacle is a large truck, and the autonomous vehicle, currently stationary and powered down, is parked in the blind spot behind the truck, the truck driver cannot see the autonomous vehicle directly behind it due to the blind spot. If there is a risk of collision with the autonomous vehicle, it can sound an alarm and activate its hazard lights after being powered on again to warn the truck driver to stop. This serves as a warning of an impending collision with the target obstacle.

[0037] As an example, controlling an autonomous vehicle to perform obstacle avoidance actions based on environmental information may include: obtaining a first distance between the target obstacle and the autonomous vehicle, and obstacle information in the obstacle avoidance route planning area of ​​the autonomous vehicle based on the environmental information; and controlling the autonomous vehicle to move away from the target obstacle based on the first distance and the obstacle avoidance route planning area, so as to avoid collisions with obstacles in the obstacle avoidance route planning area while avoiding the target obstacle.

[0038] It should be noted that controlling the autonomous vehicle to move away from the target obstacle can be controlling the autonomous vehicle to move in any of the following directions: forward, backward, left, or right. It can also be controlling the autonomous vehicle to move in any combination of two or more of the following directions: forward, backward, left, and right.

[0039] For example, see Figure 2 Assuming the target obstacle is a large truck, the autonomous vehicle, which is stationary and powered down, is parked in the blind spot behind the truck. Due to the blind spot, the truck cannot see the autonomous vehicle parked directly behind it. If there is a risk of collision for the autonomous vehicle, the first distance A between the truck and the autonomous vehicle is obtained based on environmental information, as well as the obstacle information behind the autonomous vehicle. Then, based on the first distance and the obstacle information, the autonomous vehicle is controlled to reverse, so as to avoid the target obstacle while avoiding a collision with the obstacle α behind it.

[0040] In this example, controlling the autonomous vehicle to move away from the target obstacle based on the first distance and obstacle information in the obstacle avoidance route planning area may include: when the first distance decreases to a first preset distance threshold B, and there are no obstacles in the obstacle avoidance route planning area of ​​the autonomous vehicle or the second distance between the obstacle in the obstacle avoidance route planning area and the autonomous vehicle is greater than a second preset distance threshold C, controlling the autonomous vehicle to move away from the target obstacle.

[0041] For example, see Figure 2 Assuming the target obstacle is a large truck, and the autonomous vehicle, in a stationary, power-off state, is parked in the blind spot behind the truck, the truck cannot see the autonomous vehicle directly behind it due to the blind spot. In this case, if there is a risk of collision for the autonomous vehicle, the first distance A between the truck and the autonomous vehicle, as well as the obstacle information behind the autonomous vehicle, are obtained based on environmental information. If the first distance A decreases to a first preset distance threshold B, and there is no obstacle α behind the autonomous vehicle, or the second distance D between the obstacle α and the autonomous vehicle is greater than a second preset distance threshold C, the drive system of the drive-by-wire vehicle executes the command from the autonomous driving ECU to reverse and continuously send horn and hazard light warnings.

[0042] As another example, controlling an autonomous vehicle to perform obstacle avoidance actions based on environmental information may further include: obtaining the speed at which the target obstacle approaches the autonomous vehicle based on the environmental information; and controlling the autonomous vehicle to move away from the target obstacle based on the first distance, speed, and obstacle information in the obstacle avoidance route planning area.

[0043] Specifically, the speed at which the target obstacle approaches the autonomous vehicle is obtained based on environmental information. Then, based on the first distance between the target obstacle and the autonomous vehicle, the speed at which the target obstacle approaches the autonomous vehicle, and information about obstacles moving away from the target obstacle, the autonomous vehicle is controlled to move away from the target obstacle. The faster the target obstacle approaches the autonomous vehicle, the larger the first preset distance threshold corresponding to the first distance between the target obstacle and the autonomous vehicle.

[0044] As an example, the control method for an autonomous vehicle may also include: when it is detected that the distance the autonomous vehicle has moved away from the target obstacle has reached a third preset distance, controlling the autonomous vehicle to stop moving away from the target obstacle and continuously issuing an alarm signal; after determining that the autonomous vehicle has successfully avoided the obstacle based on environmental information, controlling the autonomous vehicle to stop issuing the alarm signal and controlling the autonomous vehicle to power down.

[0045] Specifically, when the distance the autonomous vehicle has moved away from the target obstacle reaches a third preset distance, the system controls the autonomous vehicle to stop moving away from the target obstacle and continuously issues an alarm signal. The third preset distance can be a first distance between the target obstacle and the autonomous vehicle, or it can be set manually. After confirming that the autonomous vehicle has successfully avoided the obstacle based on environmental information, the braking system sends a braking request. Based on the braking request, the system controls the autonomous vehicle to stop issuing alarm signals and then controls the vehicle to power down and lock.

[0046] In summary, the control method for autonomous vehicles acquires environmental information surrounding the vehicle; when the vehicle is stationary and powered down, it determines whether there is a collision risk based on the environmental information; when a collision risk is determined, it powers the vehicle back on and controls it to perform obstacle avoidance maneuvers based on the environmental information, thus enabling the vehicle to actively avoid obstacles while ensuring safe driving.

[0047] Based on the above-described control method for autonomous vehicles, this invention also proposes a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the above-described control method for autonomous vehicles.

[0048] When a computer program corresponding to the above-described control method for an autonomous vehicle, stored on a computer-readable storage medium of this invention, is executed by a processor, it can control the autonomous vehicle to actively avoid obstacles while ensuring safe driving.

[0049] Figure 4 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present invention. Figure 4 As shown, the vehicle controller 100 includes a memory 110, a processor 120, and a computer program stored in the memory 110. When the computer program is executed by the processor 120, it implements the above-described control method for the unmanned vehicle.

[0050] The processor 120 and memory 110 are connected, for example, via a bus 130. Optionally, the vehicle controller 100 may also include a transceiver 140. It should be noted that in practical applications, the transceiver 140 is not limited to one, and the structure of the vehicle controller 100 does not constitute a limitation on the embodiments of the present invention.

[0051] Processor 120 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. Processor 120 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0052] Bus 130 may include a pathway for transmitting information between the aforementioned components. Bus 130 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 130 may be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0053] The memory 110 stores a computer program corresponding to the control method for an unmanned vehicle according to the above embodiments of the present invention. This computer program is executed by the processor 120. The processor 120 executes the computer program stored in the memory 110 to implement the content shown in the aforementioned method embodiments.

[0054] Among them, the vehicle controller 100 includes, but is not limited to: mobile terminals such as in-vehicle terminals (e.g., in-vehicle navigation terminals) and fixed terminals such as digital TVs and desktop computers. Figure 4 The vehicle controller 100 shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0055] When the computer program corresponding to the above-described control method for unmanned vehicles, stored on the vehicle controller of this embodiment of the invention, is executed by a processor, it can control the unmanned vehicle to actively avoid obstacles under the premise of safe driving.

[0056] Figure 5 This is a schematic diagram of the structure of an unmanned vehicle according to an embodiment of the present invention. Figure 5As shown, the driverless vehicle 200 includes the vehicle controller 100 described above.

[0057] The unmanned vehicle in this embodiment of the invention, through a vehicle controller, can actively avoid obstacles while ensuring safe driving.

[0058] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0059] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0060] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0061] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0063] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0065] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for an unmanned vehicle, characterized in that, The method includes: Acquire environmental information surrounding the autonomous vehicle; When the autonomous vehicle is stationary and powered off, the environmental information is used to determine whether there is a risk of collision for the autonomous vehicle. When it is determined that there is a collision risk to the autonomous vehicle, the autonomous vehicle is powered on, and obstacle avoidance actions are performed based on the environmental information. The step of controlling the autonomous vehicle to perform obstacle avoidance actions based on the environmental information includes: The first distance between the target obstacle and the autonomous vehicle is obtained based on the environmental information, as well as the obstacle information of the obstacle avoidance route planning area of ​​the autonomous vehicle. Based on the first distance and the obstacle information of the obstacle avoidance route planning area, the autonomous vehicle is controlled to move away from the target obstacle, so as to avoid collision with obstacles in the obstacle avoidance route planning area while avoiding the target obstacle. The target obstacle is an obstacle in the obstacle avoidance route planning area that is close to the autonomous vehicle and has no tendency to stop.

2. The control method for an unmanned vehicle according to claim 1, characterized in that, The step of determining whether the autonomous vehicle poses a collision risk based on the environmental information includes: When the environmental information detects a target obstacle in the obstacle avoidance route planning area of ​​the autonomous vehicle, it is determined that the autonomous vehicle is at risk of collision.

3. The control method for an unmanned vehicle according to claim 1, characterized in that, The step of controlling the autonomous vehicle to move away from the target obstacle based on the first distance and the obstacle avoidance route planning area includes: When the first distance decreases to a first preset distance threshold, and there are no obstacles in the obstacle avoidance route planning area of ​​the autonomous vehicle, or the second distance between the obstacle in the obstacle avoidance route planning area and the autonomous vehicle is greater than a second preset distance threshold, the autonomous vehicle is controlled to move away from the target obstacle.

4. The control method for an unmanned vehicle according to claim 1, characterized in that, The step of controlling the autonomous vehicle to perform obstacle avoidance actions based on the environmental information further includes: The speed at which the target obstacle approaches the unmanned vehicle is determined based on the environmental information. Based on the first distance, the speed, and the obstacle information of the obstacle avoidance route planning area, the driverless vehicle is controlled to move away from the target obstacle.

5. The control method for an unmanned vehicle according to claim 1, characterized in that, When determining that the autonomous vehicle poses a collision risk, the method further includes: Control the unmanned vehicle to issue an alarm signal.

6. The control method for an unmanned vehicle according to claim 5, characterized in that, The method further includes: When the distance the unmanned vehicle has moved away from the target obstacle reaches a third preset distance, the unmanned vehicle is controlled to stop moving away from the target obstacle, and the alarm signal is continuously issued. Once it is determined from the environmental information that the autonomous vehicle has successfully avoided the obstacle, the autonomous vehicle is controlled to stop emitting the alarm signal and to power off.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the control method for the unmanned vehicle as described in any one of claims 1-6.

8. A vehicle controller, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory, wherein when the computer program is executed by the processor, it implements the control method for an unmanned vehicle as described in any one of claims 1-6.

9. An unmanned vehicle, characterized in that, Includes the vehicle controller as described in claim 8.

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