Sweeper welt anti-collision planning method and device, electronic equipment and storage medium

Abstract

The invention discloses a sweeper edge-attaching anti-collision planning method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a collision safety space of a vehicle according to road edge position information, and the collision safety space comprises a reserved interval between the vehicle and a road edge when the vehicle has an unexpected steering behavior; calculating a collision time threshold according to the collision safety space; the collision time of the vehicle is determined according to the current position and the current speed of the vehicle; comparing the collision time threshold value with the collision time to judge whether the vehicle has a collision risk or not; and in response to the collision risk, planning a welt anti-collision path. On one hand, it is guaranteed that the sweeper runs along the edge as far as possible to guarantee the sweeping cleanliness, and on the other hand, collision between the sweeper and the road edge caused by unexpected steering can be avoided. The method can be used for automatically driving the special vehicle.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, device, electronic device, and storage medium for planning edge collision avoidance for a road sweeper. Background Art

[0002] The main operating scenario of a road sweeper is to clean along the curb. In order to ensure operating efficiency, the sweeping disc needs to be kept as close to the curb as possible.

[0003] For an autonomous road sweeper, when performing curb sweeping operations, its path planning process needs to be based on information such as curb information and map data to plan a route that drives as close to the curb as possible and ensures that the entire vehicle body does not collide with the curb. During the process of driving close to the curb, because the vehicle is very close to the curb, any unexpected steering vibration may cause the vehicle to collide with the curb, resulting in damage to the vehicle. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device, and storage medium for planning collision avoidance of a road sweeper, so as to ensure that the road sweeper drives as close to the road as possible to ensure the cleanliness of the cleaning, while avoiding unexpected turns that may cause the vehicle to collide with the curb.

[0005] The present application embodiment adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a method for planning a road sweeper to avoid collision with the roadside, wherein the method comprises:

[0007] Determining a collision safety space of the vehicle according to the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior;

[0008] Calculating a collision time threshold according to the collision safety space;

[0009] Determine the collision time of the vehicle according to the current position and current speed of the vehicle;

[0010] By comparing the collision time threshold with the collision time, determining whether the vehicle has a collision risk; and

[0011] In response to the collision risk, a collision avoidance path along the edge is planned.

[0012] In some embodiments, calculating the collision time threshold according to the collision safety space includes:

[0013] When the vehicle performs a braking operation according to a preset deceleration, if the vehicle stops within the collision safety space and does not collide with a curb, a corresponding collision time threshold is calculated.

[0014] In some embodiments, the calculating the collision time threshold according to the collision safety space further includes:

[0015] When the planned deceleration is issued, the time required for the vehicle's speed to drop to the target value is calculated;

[0016] Based on a preset safety factor, a collision time threshold is calculated according to a preset response time in the vehicle and the time required for the speed of the vehicle to drop to a target value. The preset response time includes any one or more preset response times in the perception, fusion, planning, and control processes.

[0017] In some embodiments, determining the collision time of the vehicle according to the current position and current speed of the vehicle includes:

[0018] Determining whether there is a collision intersection between the current position of the vehicle and the vehicle's chassis speed and the curb position in the curb position information;

[0019] If it is determined that there is a collision intersection between the curb position in the curb position information, the collision time of the vehicle is determined based on the lateral displacement traveled by the vehicle before the collision with the curb, the current speed of the vehicle, and the angle between the current speed and the tangent direction of the curb. The collision time of the vehicle includes the TTC value corresponding to the angle between the vehicle speed and the tangent direction of the curb.

[0020] In some embodiments, the roadside location information includes:

[0021] When the vehicle is performing a roadside cleaning operation, it senses and identifies the roadside and obtains the roadside position information, and the boundary of the roadside position information is an inaccessible area.

[0022] In some embodiments, the determining of the collision safety space of the vehicle based on the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior, includes:

[0023] According to the curb position information, a collision intersection between the vehicle and the curb that first collides with the curb when the vehicle makes an unexpected turning behavior is matched;

[0024] The collision safety space of the vehicle is determined according to the collision intersection between the vehicle that first collides with the curb and the curb and the sweeping plate of the vehicle.

[0025] In some embodiments, in response to the collision risk, planning a collision avoidance path along the edge includes:

[0026] In response to the collision time of the vehicle being less than the collision time threshold, triggering edge collision avoidance path planning;

[0027] Establish a Frenet coordinate system based on the lane reference line, and obtain parameter information of the planning starting point in the Frenet coordinate system according to the current state of the vehicle;

[0028] Calculate the possible intersection position of the predicted trajectory of the vehicle and the roadside, and convert the intersection position into the position in the Frenet coordinate system to obtain the position of the target point in the Frenet coordinate system;

[0029] Connect the Frenet coordinates of the planned start and target points to generate a path without collision with the curb.

[0030] In a second aspect, an embodiment of the present application further provides a cleaning vehicle side collision prevention planning device, wherein the device comprises:

[0031] A determination module, used to determine a collision safety space of the vehicle according to the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior;

[0032] A calculation module, used for calculating a collision time threshold according to the collision safety space;

[0033] A collision time module is used to determine the collision time of the vehicle according to the current position and current speed of the vehicle;

[0034] A judgment module, configured to judge whether the vehicle has a collision risk by comparing the collision time threshold with the collision time; and

[0035] The response module is used to plan a collision avoidance path along the edge in response to the collision risk.

[0036] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor; and a memory arranged to store computer executable instructions, wherein the executable instructions, when executed, cause the processor to perform the above method.

[0037] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple application programs, the electronic device executes the above method.

[0038] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: determine the collision safety space of the vehicle based on the curb position information, and then calculate the collision time threshold based on the collision safety space. Determine the collision time of the vehicle based on the current position and current speed of the vehicle, and judge whether the vehicle has a collision risk by comparing the collision time threshold with the collision time, and plan a collision prevention path along the edge in response to the collision risk. Through the above method, when the sweeper makes an unexpected turn, it is possible to estimate whether the vehicle has a collision wind direction by comparing the collision time threshold with the collision time, thereby reducing the risk of collision of the sweeper. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 It is a schematic diagram of a road sweeper in the related art when performing edge cleaning;

[0041] Figure 2 A schematic diagram of a road sweeper collision in the related art;

[0042] Figure 3 A schematic diagram of a side collision of a side collision prevention planning method for a road sweeper in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of collision detection of a method for planning collision prevention of a road sweeper against a sidewalk in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of the process of the anti-collision planning method for a road sweeper in an embodiment of the present application;

[0045] Figure 6 This is a schematic diagram of the structure of the anti-collision planning device for the sweeper in the embodiment of the present application;

[0046] Figure 7 A schematic diagram of a path for avoiding collision along the edge of a road sweeper according to a method for avoiding collision along the edge of a road sweeper in an embodiment of the present application;

[0047] Figure 8 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0049] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0050] like Figure 1 The figure shows a schematic diagram of a road sweeper cleaning along the curb. The main operation scenario of a road sweeper is cleaning along the curb. To ensure the operation efficiency, the sweeping disc needs to be as close to the curb as possible. The road sweeper includes sweeping discs on the left and right sides. The sweeping discs are as close to the curb as possible. The vertical line is the road edge. The front of the road sweeper is close to the curb, and the sweeping disc of the road sweeper is far away from the curb. Figure 2 The figure shows a schematic diagram of a road sweeper when a collision occurs, in which the collision occurs when the road sweeper makes an unexpected turn. The front of the road sweeper will first collide with the road edge. Since there is a gap between the sweeping disc and the road edge, a certain barrier is formed between the vehicle body and the road edge.

[0051] The "sweeper" in the embodiments of the present application is described in detail using an autonomous driving sweeper as an example. It can be understood that the "sweeper" may also be a non-autonomous driving sweeper.

[0052] The present application embodiment provides a method for planning a road sweeper to avoid collision with the roadside. Figure 5 As shown, a schematic flow chart of a method for planning a side collision avoidance for a sweeper in an embodiment of the present application is provided, and the method at least includes the following steps S510 to S550:

[0053] Step S510, determining a collision safety space of the vehicle according to the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior.

[0054] The "curb position information" is obtained through the vehicle's perception module. At the same time, the collision safety space of the sweeper needs to be determined based on the curb position information. It should be noted that the collision safety space refers to the reserved interval between the autonomous sweeper and the curb when the autonomous sweeper makes an unexpected turn. The area within this reserved interval is the collision safety space, and the area outside this reserved interval is the collision unsafe space.

[0055] Specifically, when determining the collision safety space, if there is an unexpected turning behavior, the first point of collision of the autonomous sweeper vehicle is the side corner of the vehicle's side. Since the vehicle's sweeping disc extends out of the vehicle body during operation, this leaves a certain collision safety space between the vehicle and the curb.

[0056] When determining the collision safety space, not only the real-time perception of the curb data is taken into account, but also the vehicle parameter information of the autonomous driving sweeper is taken into account. Finally, the drivable area of ​​the autonomous driving sweeper during the edge cleaning operation is obtained.

[0057] Step S520: calculating a collision time threshold according to the collision safety space.

[0058] The collision time threshold is determined based on the collision safety space. The design premise of the collision time threshold is: first, assume that the corresponding deceleration is issued according to the braking capability of the autonomous driving street sweeper, and the autonomous driving street sweeper executes the deceleration to stop, and the vehicle can stop safely without colliding with the curb.

[0059] It can be understood that the "collision time threshold" will be used as a threshold for subsequent judgments to assess whether there is a collision risk.

[0060] Step S530, determining the collision time of the vehicle according to the current position and current speed of the vehicle.

[0061] The current position of the vehicle can be obtained based on the positioning module of the vehicle, and the current speed of the vehicle can be obtained based on the chassis speed of the vehicle. It can be understood that the current position of the vehicle refers to the relative position with the road curb. According to the current position and speed of the vehicle, it is predicted in real time whether there is an intersection with the road curb under the current vehicle speed direction. If there is a collision intersection, the collision time of the vehicle can be further determined. On the contrary, if there is no collision intersection, there is no need to calculate the collision time of the vehicle.

[0062] When triggering the anti-collision path planning, the time consumption of each core link of autonomous driving (perception, planning, and control) is comprehensively considered to obtain the collision time threshold, and the predicted trajectory is obtained according to the driving state of the vehicle to obtain the TTC of the collision curb. By comparing the TTC and the collision time threshold, the risk of collision curb can be effectively determined and the path planning can be triggered in time.

[0063] Step S540: Determine whether the vehicle has a collision risk by comparing the collision time threshold with the collision time.

[0064] By comparing the collision time threshold with the collision time, it is possible to accurately determine whether the vehicle has a collision risk. It should be noted that the angle between the vehicle speed and the tangent direction of the road will also be a factor affecting the wind direction of the collision.

[0065] Step S550: In response to the collision risk, a collision avoidance path along the edge is planned.

[0066] In response to the collision risk, a collision-avoiding path close to the edge is replanned, that is, collision with the curb is avoided as much as possible while ensuring the effective completion of the edge cleaning task.

[0067] When calculating the target point of the anti-collision path planning, a smooth path without collision with the curb is generated according to the intersection position of the predicted trajectory and the curb, effectively ensuring that the autonomous driving sweeper will not collide with the curb during the edge operation.

[0068] Through the above method, the curb position information is first confirmed based on the real-time perception data of the autonomous driving sweeper, and then according to the TTC (collision time) mechanism, the collision intersection with the real-time curb curve is found in real time based on the current position of the vehicle and the current speed direction of the vehicle. Furthermore, if there is a collision intersection, TTC is calculated based on the current speed, and TTC is compared with the set threshold to determine whether there is a collision risk at present. Finally, if there is a collision risk, local path planning is performed based on the collision risk, and a safe and collision-free autonomous driving path is output.

[0069] Different from the related technologies, when the autonomous road sweeper makes unexpected turns, it is easy for the vehicle to collide with the road curb. Through the above method, the collision safety space of the vehicle is determined according to the road curb position information, and then the real-time perceived road curb data and the vehicle parameter information of the sweeper are considered at the same time to obtain the drivable area of ​​the autonomous road sweeper during the edge cleaning operation. Reduce the risk of collision between the vehicle and the road curb.

[0070] Different from the related art, there is a lack of early warning when the autonomous sweeper makes unexpected turns. The above method provides a trigger logic for anti-collision path planning, which determines whether the vehicle has a collision risk by comparing the collision time threshold with the collision time, and plans an anti-collision path along the edge in response to the collision risk. A collision risk warning can be given in advance before the collision risk occurs.

[0071] In one embodiment of the present application, calculating the collision time threshold based on the collision safety space includes: when the vehicle performs a braking operation according to a preset deceleration, if the vehicle stops within the collision safety space and does not collide with the curb, calculating the corresponding collision time threshold.

[0072] like Figure 3As shown in the figure, the collision time threshold is calculated: First, the premise of the collision time threshold design is determined. Assuming that the preset deceleration is issued according to the braking capacity of the sweeper, the sweeper performs deceleration parking, and the vehicle can stop safely without colliding with the curb. Based on this principle, the corresponding collision time threshold is calculated, which conforms to the actual scenario of the autonomous driving sweeper cleaning along the edge.

[0073] In one embodiment of the present application, the calculation of the collision time threshold based on the collision safety space also includes: when issued according to the planned deceleration, calculating the time required for the vehicle speed to drop to the target value; based on a preset safety factor, calculating the collision time threshold according to a preset response time in the vehicle and the time required for the vehicle speed to drop to the target value, the preset response time includes any one or more preset response times in the perception, fusion, planning, and control processes.

[0074] like Figure 3 As shown in the figure, it includes the actual curb boundary, the actual edge area, the first collision point, the perceived curb error, and the collision safety space. The collision safety space here is determined by the position of the sweeping disc of the autonomous sweeper and the curb.

[0075] With deceleration -5m / s 2 Take the example of the collision time threshold, taking into account the time consumption of each core link of the autonomous driving and calculating the collision time threshold. Specifically, when the planning layer sends -5m / s 2 The deceleration rate of the autonomous sweeper is about -4m / s due to the tracking error in the control layer. 2 (System error). At this time, according to the calculation of the self-driving sweeper's edge-to-edge operating speed of 8m / s = 2.22m / s, it can be known that the time when the speed drops to 0 is:

[0076]

[0077] It should be noted that from the recognition of the road edge by the autonomous driving perception layer, to the output of the road edge information by the fusion layer, to the collision detection and trajectory planning by the planning layer, and finally to the control layer controlling the chassis to execute the response action, the time of several core links (the response time of the autonomous driving system) includes but is not limited to:

[0078] (1) Final output time of perception and fusion operation: 100ms.

[0079] (2) Planning operation cycle: 100ms.

[0080] (3) Control operation cycle: 10ms.

[0081] (4) Braking execution response time: 20ms.

[0082] Furthermore, if the safety factor δ is set to 1.2, the collision time threshold can be calculated as:

[0083] T crash =(t stop +100+100+10+20)×1.2=942ms.

[0084] In one embodiment of the present application, determining the collision time of the vehicle based on the current position and current speed of the vehicle includes: judging whether there is a collision intersection between the current position of the vehicle and the chassis speed of the vehicle and the curb position in the curb position information; if it is judged that there is a collision intersection between the curb position in the curb position information, then determining the collision time of the vehicle based on the lateral displacement traveled by the vehicle before the collision with the curb, the current speed of the vehicle, and the angle between the current speed and the tangent direction of the curb, the collision time of the vehicle includes the TTC value corresponding to the angle between the vehicle speed and the tangent direction of the curb.

[0085] Please refer to Figure 4 , based on the vehicle speed (chassis speed) and the curb, real-time prediction is made as to whether there is an intersection point where the vehicle will collide with the curb in the current vehicle speed direction, such as Figure 4 As shown, it includes several parameters such as the longitudinal displacement before the collision, the lateral displacement before the collision, and the angle between the vehicle speed and the tangent direction of the road.

[0086] First, the distance traveled before the collision is the longitudinal displacement: S = v × TTC

[0087] Secondly, according to the triangle sine relationship:

[0088] Then, based on the equality of the above two equations, TTC (Time-To-Collision) is calculated:

[0089]

[0090] Wherein, D is the lateral displacement before the collision, which is equal to the distance between the frame of the vehicle and the curb when the vehicle is close to the edge, and can be calculated based on the actual vehicle parameters to be 0.36m.

[0091] The θ is the angle between the vehicle speed and the tangent direction of the road.

[0092] Different TTC values ​​can be calculated based on different θ, as shown in Table 1 (TTC values ​​at different angles between vehicle speed and the tangent direction of the road):

[0093]

[0094] The predicted trajectory is obtained according to the driving state of the vehicle, thereby obtaining the TTC of the collision curb. By comparing the TTC with the collision time threshold, the risk of collision curb can be effectively determined and path planning can be triggered in time.

[0095] In one embodiment of the present application, the curb position information includes: when the vehicle senses and identifies the curb during the edge cleaning operation, the curb position information is obtained, and the boundary of the curb position information is an inaccessible area.

[0096] When determining the curb position information, during the process of the self-driving sweeper cleaning along the curb, the perception layer will identify the curb in real time and output the curb position information to the planning layer, indicating that the area beyond this boundary is an inaccessible area. Preferably, when calculating the drivable area during the edge cleaning process, obstacles such as flower beds can be further taken into account as road boundaries.

[0097] In one embodiment of the present application, the collision safety space of the vehicle is determined based on the curb position information, and the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior, including: matching the collision intersection between the vehicle and the curb that first collides with the curb when the vehicle makes an unexpected turning behavior based on the curb position information; determining the collision safety space of the vehicle based on the collision intersection between the vehicle and the curb that first collides with the curb and the vehicle's sweeping disk.

[0098] Please refer to Figure 3 , determine the collision safety space: If there is an unexpected turning behavior, the first collision point is the side corner of the vehicle's side. Since the sweeping disc extends out of the vehicle body during operation, this leaves a certain collision safety space between the vehicle and the curb.

[0099] It should be noted that "unexpected steering behavior" may be caused by the perception accuracy of the vehicle's sensors or the instability of the perception module, and the vehicle does not follow the pre-planned trajectory.

[0100] In one embodiment of the present application, the response to the collision risk is to plan a collision avoidance path along the edge, including: in response to the collision time of the vehicle being less than the collision time threshold, triggering the collision avoidance path planning along the edge; establishing a Frenet coordinate system according to the lane reference line, and obtaining parameter information of the planning starting point in the Frenet coordinate system according to the current state of the vehicle; calculating the possible intersection position of the predicted trajectory of the vehicle and the curb, and converting the intersection position into a position in the Frenet coordinate system to obtain the position of the target point in the Frenet coordinate system; connecting the Frenet coordinates of the planning starting point and the target point to generate a path without collision with the curb.

[0101] Please refer to Figure 7When planning the anti-collision path, the general principle of path planning is to avoid collision with the curb as much as possible while ensuring the effective completion of the edge cleaning task.

[0102] Specifically, the decision is first made based on whether the TTC time is less than the threshold. If it is less than the threshold, the anti-collision path planning is triggered, otherwise no processing is done. That is, the steering wheel of the autonomous sweeper is adjusted.

[0103] If the collision avoidance path planning is triggered, first, the Frenet coordinate system is established according to the reference line. According to the current state of the vehicle, the position of the planning starting point in the Frenet coordinate system is obtained: s (longitudinal distance), l (lateral distance), dl (lateral speed after decomposition), ddl (acceleration). Then the intersection position of the predicted trajectory of the vehicle and the possible Cartesian coordinate system of the roadside is calculated, and the intersection is converted to s in the Frenet coordinate system. Then, according to the s value, a reverse offset is made in the Frenet coordinate system to obtain the position s', l' of the target point in the Frenet coordinate system, as shown in Figure 7 As shown, and the offset is calculated as

[0104]

[0105] It should be noted that when calculating the offset value, more appropriate parameters can be adjusted to meet the condition that the closer the collision point is to the vehicle, the larger the offset.

[0106] Finally, the Frenet coordinates of the planned start and target points are connected using a quintic polynomial (used multiple times) to generate a smooth path without collision edges.

[0107] Through the above method, according to the intersection position of the predicted trajectory and the curb, the offset is reversely calculated to determine the position of the target point in the Frenet coordinate system, and the planned starting point and the target point are connected through a quintic polynomial to generate a smooth path without collision with the curb, effectively ensuring that the autonomous driving sweeper will not collide with the curb during the edge operation.

[0108] It can be understood that the anti-collision path planning method can also use B-spline, Bezier curve, etc. instead of quintic polynomial, which is not specifically limited in the embodiments of the present application.

[0109] The present application embodiment also provides a cleaning vehicle side collision prevention planning device 600, such as Figure 6 As shown, a schematic diagram of the structure of the anti-collision planning device for a sweeper against the edge of the vehicle in an embodiment of the present application is provided. The anti-collision planning device for a sweeper against the edge of the vehicle 600 at least includes: a determination module 610, a calculation module 620, a collision time module 630, a judgment module 640 and a response module 650, wherein:

[0110] In one embodiment of the present application, the determination module 610 is specifically used to determine the collision safety space of the vehicle based on the curb position information, and the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior.

[0111] The "curb position information" is obtained through the vehicle's perception module. At the same time, the collision safety space of the sweeper needs to be determined based on the curb position information. It should be noted that the collision safety space refers to the reserved interval between the autonomous sweeper and the curb when the autonomous sweeper makes an unexpected turn. The area within this reserved interval is the collision safety space, and the area outside this reserved interval is the collision unsafe space.

[0112] Specifically, when determining the collision safety space, if there is an unexpected turning behavior, the first point of collision of the autonomous sweeper vehicle is the side corner of the vehicle's side. Since the vehicle's sweeping disc extends out of the vehicle body during operation, this leaves a certain collision safety space between the vehicle and the curb.

[0113] When determining the collision safety space, not only the real-time perception of the curb data is taken into account, but also the vehicle parameter information of the autonomous driving sweeper is taken into account. Finally, the drivable area of ​​the autonomous driving sweeper during the edge cleaning operation is obtained.

[0114] In one embodiment of the present application, the calculation module 620 is specifically used to calculate a collision time threshold according to the collision safety space.

[0115] The collision time threshold is determined based on the collision safety space. The design premise of the collision time threshold is: first, assume that the corresponding deceleration is issued according to the braking capability of the autonomous driving street sweeper, and the autonomous driving street sweeper executes the deceleration to stop, and the vehicle can stop safely without colliding with the curb.

[0116] It can be understood that the "collision time threshold" will be used as a threshold for subsequent judgments to assess whether there is a collision risk.

[0117] In one embodiment of the present application, the collision time module 630 is specifically used to determine the collision time of the vehicle according to the current position and current speed of the vehicle.

[0118] The current position of the vehicle can be obtained based on the positioning module of the vehicle, and the current speed of the vehicle can be obtained based on the chassis speed of the vehicle. It can be understood that the current position of the vehicle refers to the relative position with the road curb. According to the current position and speed of the vehicle, it is predicted in real time whether there is an intersection with the road curb under the current vehicle speed direction. If there is a collision intersection, the collision time of the vehicle can be further determined. On the contrary, if there is no collision intersection, there is no need to calculate the collision time of the vehicle.

[0119] When triggering the anti-collision path planning, the time consumption of each core link of autonomous driving (perception, planning, and control) is comprehensively considered to obtain the collision time threshold, and the predicted trajectory is obtained according to the driving state of the vehicle to obtain the TTC of the collision curb. By comparing the TTC and the collision time threshold, the risk of collision curb can be effectively determined and the path planning can be triggered in time.

[0120] In one embodiment of the present application, the judgment module 640 is specifically used to judge whether the vehicle has a collision risk by comparing the collision time threshold with the collision time.

[0121] By comparing the collision time threshold with the collision time, it is possible to accurately determine whether the vehicle has a collision risk. It should be noted that the angle between the vehicle speed and the tangent direction of the road will also be a factor affecting the wind direction of the collision.

[0122] In one embodiment of the present application, the response module 650 is specifically used to plan a side-by-side anti-collision path in response to the collision risk.

[0123] In response to the collision risk, a collision-avoiding path close to the edge is replanned, that is, collision with the curb is avoided as much as possible while ensuring the effective completion of the edge cleaning task.

[0124] When calculating the target point of the anti-collision path planning, a smooth path without collision with the curb is generated according to the intersection position of the predicted trajectory and the curb, effectively ensuring that the autonomous driving sweeper will not collide with the curb during the edge operation.

[0125] In one embodiment of the present application, the calculation module 620 is also used to

[0126] When the vehicle performs a braking operation according to a preset deceleration, if the vehicle stops within the collision safety space and does not collide with a curb, a corresponding collision time threshold is calculated.

[0127] In one embodiment of the present application, the calculation module 620 is also used to

[0128] When the planned deceleration is issued, the time required for the vehicle's speed to drop to the target value is calculated;

[0129] Based on a preset safety factor, a collision time threshold is calculated according to a preset response time in the vehicle and the time required for the speed of the vehicle to drop to a target value. The preset response time includes any one or more preset response times in the perception, fusion, planning, and control processes.

[0130] In one embodiment of the present application, the collision time module 630 is also used to

[0131] Determining whether there is a collision intersection between the current position of the vehicle and the vehicle's chassis speed and the curb position in the curb position information;

[0132] If it is determined that there is a collision intersection between the curb position in the curb position information, the collision time of the vehicle is determined based on the lateral displacement traveled by the vehicle before the collision with the curb, the current speed of the vehicle, and the angle between the current speed and the tangent direction of the curb. The collision time of the vehicle includes the TTC value corresponding to the angle between the vehicle speed and the tangent direction of the curb.

[0133] In one embodiment of the present application, the curb position information includes:

[0134] When the vehicle is performing a roadside cleaning operation, it senses and identifies the roadside and obtains the roadside position information, and the boundary of the roadside position information is an inaccessible area.

[0135] In one embodiment of the present application, the determining module 610 is further configured to:

[0136] According to the curb position information, a collision intersection between the vehicle and the curb that first collides with the curb when the vehicle makes an unexpected turning behavior is matched;

[0137] The collision safety space of the vehicle is determined according to the collision intersection between the vehicle that first collides with the curb and the curb and the sweeping plate of the vehicle.

[0138] In one embodiment of the present application, the response module 650 is also used to

[0139] In response to the collision time of the vehicle being less than the collision time threshold, triggering edge collision avoidance path planning;

[0140] Establish a Frenet coordinate system based on the lane reference line, and obtain parameter information of the planning starting point in the Frenet coordinate system according to the current state of the vehicle;

[0141] Calculate the possible intersection position of the predicted trajectory of the vehicle and the roadside, and convert the intersection position into the position in the Frenet coordinate system to obtain the position of the target point in the Frenet coordinate system;

[0142] Connect the Frenet coordinates of the planned start and target points to generate a path without collision with the curb.

[0143] It can be understood that the above-mentioned sweeper edge collision avoidance planning device can implement the various steps of the sweeper edge collision avoidance planning method provided in the aforementioned embodiment. The relevant explanations about the sweeper edge collision avoidance planning method are applicable to the sweeper edge collision avoidance planning device, which will not be repeated here.

[0144] Figure 8 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 8 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0145] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0146] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0147] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a sweeper side collision prevention planning device at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0148] Determining a collision safety space of the vehicle according to the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior;

[0149] Calculating a collision time threshold according to the collision safety space;

[0150] Determine the collision time of the vehicle according to the current position and current speed of the vehicle;

[0151] By comparing the collision time threshold with the collision time, determining whether the vehicle has a collision risk; and

[0152] In response to the collision risk, a collision avoidance path along the edge is planned.

[0153] The above application Figure 5 The method executed by the sweeper side collision prevention planning device disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or instructions in software form. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0154] The electronic device may also perform Figure 5 The method for executing the anti-collision planning device for the sweeper sticking to the edge of the vehicle and realizing the anti-collision planning device for the sweeper sticking to the edge of the vehicle in Figure 5 The functions of the illustrated embodiment will not be described in detail in the embodiments of the present application.

[0155] The present application also provides a computer-readable storage medium, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to execute Figure 5 The method executed by the cleaning vehicle side collision prevention planning device in the illustrated embodiment is specifically used to execute:

[0156] Determining a collision safety space of the vehicle according to the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior;

[0157] Calculating a collision time threshold according to the collision safety space;

[0158] Determine the collision time of the vehicle according to the current position and current speed of the vehicle;

[0159] By comparing the collision time threshold with the collision time, determining whether the vehicle has a collision risk; and

[0160] In response to the collision risk, a collision avoidance path along the edge is planned.

[0161] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0162] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0163] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0164] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0165] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0166] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0167] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0168] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0169] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0170] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for planning a road sweeper to avoid collision with the edge, wherein: The method comprises: Determining a collision safety space of the vehicle according to the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior; Calculating a collision time threshold according to the collision safety space; Determine the collision time of the vehicle according to the current position and current speed of the vehicle; By comparing the collision time threshold with the collision time, determining whether the vehicle has a collision risk; and In response to the collision risk, a collision avoidance path along the edge is planned.

2. The method of claim 1, wherein: The calculating the collision time threshold according to the collision safety space includes: When the vehicle performs a braking operation according to a preset deceleration, if the vehicle stops within the collision safety space and does not collide with a curb, a corresponding collision time threshold is calculated.

3. The method of claim 2, wherein: The calculating the collision time threshold according to the collision safety space further includes: When the planned deceleration is issued, the time required for the vehicle's speed to drop to the target value is calculated; Based on a preset safety factor, a collision time threshold is calculated according to a preset response time in the vehicle and the time required for the speed of the vehicle to drop to a target value. The preset response time includes any one or more preset response times in the perception, fusion, planning, and control processes.

4. The method of claim 2, wherein: Determining the collision time of the vehicle according to the current position and current speed of the vehicle includes: Determining whether there is a collision intersection between the current position of the vehicle and the vehicle's chassis speed and the curb position in the curb position information; If it is determined that there is a collision intersection between the curb position in the curb position information, the collision time of the vehicle is determined based on the lateral displacement traveled by the vehicle before the collision with the curb, the current speed of the vehicle, and the angle between the current speed and the tangent direction of the curb. The collision time of the vehicle includes the TTC value corresponding to the angle between the vehicle speed and the tangent direction of the curb.

5. The method of claim 1, wherein: The roadside location information includes: When the vehicle is performing a roadside cleaning operation, it senses and identifies the roadside and obtains the roadside position information, and the boundary of the roadside position information is an inaccessible area.

6. The method of claim 1, wherein: The determining of the collision safety space of the vehicle according to the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior, includes: According to the curb position information, a collision intersection between the vehicle and the curb that first collides with the curb when the vehicle makes an unexpected turning behavior is matched; The collision safety space of the vehicle is determined according to the collision intersection between the vehicle that first collides with the curb and the curb and the sweeping plate of the vehicle.

7. The method according to any one of claims 1 to 6, wherein: In response to the collision risk, planning a collision avoidance path along the edge includes: In response to the collision time of the vehicle being less than the collision time threshold, triggering edge collision avoidance path planning; Establish a Frenet coordinate system based on the lane reference line, and obtain parameter information of the planning starting point in the Frenet coordinate system according to the current state of the vehicle; Calculate the possible intersection position of the predicted trajectory of the vehicle and the roadside, and convert the intersection position into the position in the Frenet coordinate system to obtain the position of the target point in the Frenet coordinate system; Connect the Frenet coordinates of the planned start and target points to generate a path without collision with the curb.

8. A cleaning vehicle edge collision prevention planning device, wherein: The device comprises: A determination module, used to determine a collision safety space of the vehicle according to the curb position information, wherein the collision safety space includes a reserved interval between the vehicle and the curb when the vehicle makes an unexpected turning behavior; A calculation module, used for calculating a collision time threshold according to the collision safety space; A collision time module is used to determine the collision time of the vehicle according to the current position and current speed of the vehicle; A judgment module, configured to judge whether the vehicle has a collision risk by comparing the collision time threshold with the collision time; and The response module is used to plan a collision avoidance path along the edge in response to the collision risk.

9. An electronic device, comprising: processor; as well as A memory arranged to store computer executable instructions, which when executed cause the processor to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of application programs, causes the electronic device to execute any one of the methods of claims 1 to 7.

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