Safe bypassing method and device based on conflict area identification, electronic equipment and medium

Abstract

The embodiment of the invention discloses a safe bypassing method and device based on conflict area identification, electronic equipment and a storage medium. The method comprises the steps of determining that a target vehicle is in a detouring scene; determining a conflict area formed by the target vehicle and the dynamic obstacle when the target vehicle bypasses, and an expected parking avoidance position when the target vehicle avoids the dynamic obstacle; screening dynamic obstacles when the target vehicle bypasses, and determining interaction information between the target dynamic obstacle and the target vehicle; and according to the interaction information between the target dynamic obstacle and the target vehicle and the expected parking yielding position, whether the target vehicle needs to give way is determined, and the target parking yielding position and the expected yielding speed when the target vehicle needs to give way are determined. According to the scheme, the expected yielding speed and position of the target vehicle are generated based on the conflict area, so that the collision risk is avoided; and by adopting a speed-limiting non-braking decision, the passing efficiency of the target vehicle is guaranteed, and the rear-end collision risk caused by sudden braking or heavy braking is also effectively avoided.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of autonomous driving technology, and in particular to a safe detour method, device, electronic device and medium based on conflict zone identification. Background Art

[0002] In recent years, autonomous driving technology has flourished. Traditional autonomous driving systems are an extension of the robot architecture and are divided into three modules: perception, planning and decision-making, and control. Planning and decision-making is based on the fusion of multiple sensor information and the premise of having a clear understanding of the self and the surrounding environment. In the simulated manual driving state, the human brain makes a comprehensive judgment on the importance of each factor and finally makes various decisions and plans different driving paths. Therefore, the planning and decision-making module of the autonomous driving system is also the most complex part.

[0003] The decision-making of autonomous driving planning is generally divided into lateral path planning and longitudinal speed planning. The lateral path planning is responsible for generating a spatial path without time information, which can avoid and bypass static obstacles; the longitudinal speed planning is responsible for generating time information on the spatial path and interacting with obstacles in the scene. However, when bypassing, there is a risk of failure to solve the speed-time diagram (ST diagram) speed planning for the risk of dynamic obstacles in the rear direction, and there is no actual conflict zone element on the map, which can easily lead to rear-end collisions.

[0004] Therefore, how to safely bypass during autonomous driving is a technical problem that needs to be urgently solved by technicians in this field. Summary of the invention

[0005] The embodiments of the present invention provide a safe detour method, device, electronic device and storage medium based on conflict zone identification, so as to ensure the traffic efficiency of the target vehicle and effectively avoid the risk of rear-end collision caused by sudden braking or heavy braking.

[0006] In a first aspect, an embodiment of the present invention provides a safe bypass method based on conflict zone identification, comprising:

[0007] Determine that the target vehicle is in a detour scenario;

[0008] Determine the conflict area between the target vehicle and the dynamic obstacle when detouring, and the expected stopping position of the target vehicle when avoiding the dynamic obstacle;

[0009] Screening the dynamic obstacles encountered by the target vehicle when it is detouring, and determining the interaction information between the target dynamic obstacle and the target vehicle; the interaction information includes the time when the target dynamic obstacle collides with the target vehicle, the longitudinal collision position when the target dynamic obstacle collides with the target vehicle, and the time when the target dynamic obstacle enters the conflict area;

[0010] According to the interactive information between the target dynamic obstacle and the target vehicle and the expected stop and yield position, it is determined whether the target vehicle needs to yield and the target stop and yield position and the expected yield speed when yielding is required.

[0011] In a second aspect, an embodiment of the present invention further provides a safe bypassing device based on conflict zone identification, comprising:

[0012] A detour scene determination module, used to determine whether the target vehicle is in a detour scene;

[0013] A conflict area determination module is used to determine the conflict area formed by the target vehicle and the dynamic obstacle when detouring, and the expected stopping position of the target vehicle when avoiding the dynamic obstacle;

[0014] A dynamic obstacle processing module is used to screen dynamic obstacles encountered by the target vehicle when it is detouring, and determine the interaction information between the target dynamic obstacle and the target vehicle; the interaction information includes the time when the target dynamic obstacle collides with the target vehicle, the longitudinal collision position when the target dynamic obstacle collides with the target vehicle, and the time when the target dynamic obstacle enters the conflict area;

[0015] The target vehicle yielding decision module is used to determine whether the target vehicle needs to yield and determine the target yielding position and expected yielding speed when yielding is required based on the interactive information between the target dynamic obstacle and the target vehicle and the expected yielding position.

[0016] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0017] one or more processors;

[0018] A storage device for storing one or more programs;

[0019] When the one or more programs are executed by the one or more processors, the one or more processors implement the security bypass method based on conflict area identification described in any embodiment of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the secure bypass method based on conflict zone identification described in any embodiment of the present invention.

[0021] In a fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the secure bypass method based on conflict zone identification as described in any embodiment of the present invention.

[0022] The embodiment of the present invention provides a safe detour method, device, electronic device and storage medium based on conflict zone identification, by determining the conflict area formed by the target vehicle and the dynamic obstacle when detouring, and the expected stop and yield position when the target vehicle avoids the dynamic obstacle; screening the dynamic obstacle of the target vehicle, and determining the interaction information between the target dynamic obstacle and the target vehicle; according to the interaction information between the target dynamic obstacle and the target vehicle and the expected stop and yield position, determining the target stop and yield position and the expected yield speed when the target vehicle needs to yield. The technical solution of the embodiment of the present invention solves the risk of collision with the side and rear dynamic obstacles when the vehicle detours in an unstructured scenario. When the main planning ST diagram cannot solve the collision with the rear dynamic obstacle, the risk scenario is accurately identified, and the problem of no detour collision occurs again. At the same time, the target stop and yield position and the expected yield speed when the target vehicle needs to yield are determined, so that the target vehicle can maintain safe passage with the target dynamic obstacle before entering the conflict area, thereby improving the traffic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings. The drawings are only for the purpose of illustrating preferred embodiments and are not to be considered as limiting the present invention. Also, the same reference symbols are used throughout the drawings to represent the same parts. In the drawings:

[0024] Figure 1 is a flow chart of a safe detour method based on conflict zone identification provided by Embodiment 1 of the present invention;

[0025] Figure 2 is a schematic diagram of a target vehicle detour scene recognition provided in an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of a conflict area and a desired parking position of a target vehicle provided in an embodiment of the present invention;

[0027] Figure 4 is a flow chart of a safe bypass method based on conflict zone identification provided by Embodiment 2 of the present invention;

[0028] Figure 5 is a schematic diagram of the location of a conflict area provided in an embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of constructing a target vehicle attention area provided in an embodiment of the present invention;

[0030] Figure 7 is a schematic diagram of dynamic obstacle steering angle judgment provided in an embodiment of the present invention;

[0031] Figure 8 is a schematic structural diagram of a safe bypass device based on conflict zone identification provided in an embodiment of the present invention;

[0032] Fig. 9 It is a structural schematic diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0034] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations (or steps) as sequential processes, many of the operations (or steps) therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0035] Among them, the acquisition, storage, use and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. It should be noted that in the embodiments of this application, some existing solutions in the industry such as certain software, components or models may be mentioned, which should be considered as exemplary, and their purpose is only to illustrate the feasibility of the implementation of the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0037] Embodiment 1

[0038] Figure 1This is a flow chart of a security bypass method based on conflict zone identification provided in an embodiment of the present invention. This embodiment is applicable to security bypass based on conflict zone identification. The method of this embodiment can be executed by a security bypass device based on conflict zone identification. The device can be implemented in hardware and / or software. The device can be configured in a security bypass server based on conflict zone identification. The method specifically includes the following steps:

[0039] S110: Determine that the target vehicle is in a detour scenario.

[0040] The determination of the detour scenario may refer to identifying whether the target vehicle is performing a detour action, for example, overtaking or bypassing an obstacle. In the embodiment of the present invention, the coordinate position of the target vehicle is determined by the Frenet coordinate system to determine whether the target vehicle is in a detour scenario.

[0041] Among them, see Figure 2 , in the Frenet coordinate system, starting from the current position of the target vehicle (ego) and ending at the longitudinal preview position, obtain the maximum and minimum values ​​of the target vehicle trajectory in the lateral coordinate within this range. When there is a sufficient difference between the extreme position and the current lateral position of the target vehicle, it is considered that the trajectory of the target vehicle has a lateral offset and may be in a detour scenario. According to the left-right relationship, the detour direction is preliminarily identified as left or right.

[0042] S120: Determine a conflict area between the target vehicle and the dynamic obstacle when the target vehicle is circumventing the dynamic obstacle, and an expected stopping position of the target vehicle when the target vehicle avoids the dynamic obstacle.

[0043] The conflict area may refer to an area where the target vehicle may collide with a dynamic obstacle when circling; for example, see Figure 3 When the target vehicle is circling the obstacle obs1, the dynamic obstacle obs2 may collide with the target vehicle in an area. The area where the collision occurs is regarded as the conflict area, which is indicated by a red rectangular box in the figure.

[0044] The expected stop and yield position may refer to an area where the target vehicle needs to slow down or stop and yield when a collision between the target vehicle and the dynamic obstacle is likely to occur, so that the dynamic obstacle can safely pass through the conflict area. Figure 3 The desired parking position may be in an area behind the obstacle that needs to be circumvented, which is indicated by a dotted rectangular frame in the figure.

[0045] S130: Screen the dynamic obstacles encountered by the target vehicle when it is circling, and determine the interaction information between the target dynamic obstacles and the target vehicle.

[0046] The dynamic obstacles around the target vehicle are screened, and the dynamic obstacles that do not affect the detour of the target vehicle are eliminated, and the target dynamic obstacles that may collide with the target vehicle are determined, such as the dynamic obstacles in front of the target vehicle, the dynamic obstacles far from the rear of the target vehicle, or the dynamic obstacles with a lower speed behind the target vehicle.

[0047] The interactive information may refer to information when the target vehicle and the target dynamic obstacle may collide. The interactive information includes but is not limited to the time when the target dynamic obstacle collides with the target vehicle, the longitudinal collision position when the target dynamic obstacle collides with the target vehicle, and the time when the target dynamic obstacle enters the conflict area.

[0048] In the embodiment of the present invention, dynamic obstacles around the target vehicle are screened, target dynamic obstacles that affect the detour of the target vehicle are determined, and interaction information between the target vehicle and the target dynamic obstacles is determined.

[0049] S140: Determine whether the target vehicle needs to yield and determine the target yielding position and the expected yielding speed when yielding is required based on the interactive information between the target dynamic obstacle and the target vehicle and the expected yielding position.

[0050] Among them, according to the interactive information between the target dynamic obstacle and the target vehicle, it is determined whether the target vehicle needs to give way; if the target vehicle needs to give way, the target stop and yield position and the expected yield speed when the target vehicle needs to give way are determined according to the expected stop and yield position, so that the target vehicle maintains safe passage with the target dynamic obstacle before entering the conflict area.

[0051] The embodiment of the present invention provides a safe detour method based on conflict zone identification, by determining that the target vehicle is in a detour scenario; determining the conflict area formed by the target vehicle and the dynamic obstacle when detouring, and the expected parking and yielding position when the target vehicle avoids the dynamic obstacle; screening the dynamic obstacles of the target vehicle when detouring, and determining the interaction information between the target dynamic obstacle and the target vehicle; according to the interaction information between the target dynamic obstacle and the target vehicle and the expected parking and yielding position, determining whether the target vehicle needs to yield and determining the target parking and yielding position and the expected yielding speed when yielding is required. The technical solution of the embodiment of the present invention solves the risk problem of collision with the side and rear dynamic obstacles when the vehicle detours in an unstructured scenario. When the main planning ST diagram cannot solve the collision with the rear dynamic obstacle, the risk scenario is accurately identified, and the problem of no detour collision occurs again. At the same time, the target parking and yielding position and the expected yielding speed when the target vehicle needs to yield are determined, so that the target vehicle can maintain safe passage with the target dynamic obstacle before entering the conflict area, thereby improving the traffic efficiency.

[0052] Embodiment 2

[0053] Figure 4 The flowchart of a safe bypass method based on conflict zone identification provided in an embodiment of the present invention. The embodiment of the present invention further optimizes the above embodiment on the basis of the above embodiment, and the embodiment of the present invention can be combined with various optional solutions in one or more of the above embodiments. Figure 4 As shown, the safe bypass method based on conflict zone identification provided in the embodiment of the present invention may include the following steps:

[0054] S410: Determine that the target vehicle is in a detour scenario.

[0055] S420: Determine a conflict area between the target vehicle and the dynamic obstacle when the target vehicle is circumventing the dynamic obstacle, and an expected stopping position of the target vehicle when the target vehicle avoids the dynamic obstacle.

[0056] The existing conflict area is obtained based on the path of the target vehicle and the dynamic obstacle information on both sides, and the expected stopping position for the target vehicle to stop when avoiding the dynamic obstacle is determined.

[0057] As an optional but non-limiting implementation, the determination of the conflict area between the target vehicle and the dynamic obstacle when detouring, and the expected stopping position of the target vehicle when avoiding the dynamic obstacle, includes but is not limited to steps A1-A2:

[0058] Step A1: Determine the conflict area between the target vehicle and the dynamic obstacle when bypassing the first obstacle based on the obstacle position information when the target vehicle bypasses the first obstacle and the lateral offset position of the target vehicle when bypassing the first obstacle; wherein the first obstacle is the obstacle in front of the target vehicle that needs to be bypassed, and the dynamic obstacle is the dynamic obstacle located behind the target vehicle.

[0059] Step A2: Determine the longitudinal coordinate of the projection point of the lateral coordinate of the boundary of the first obstacle on the path of the target vehicle, and determine the expected stopping and yielding position of the target vehicle when avoiding the dynamic obstacle based on the longitudinal coordinate; wherein the expected stopping and yielding position is the stopping position where the target vehicle expects to yield when the target vehicle adopts the yielding strategy.

[0060] Among them, see Figure 5 Taking the detour to the left as an example, the conflict zone formed by the target vehicle and the rear dynamic obstacle is a spatial conflict area formed by the target vehicle and the rear dynamic obstacle when the target vehicle detours the front obstacle and causes a lateral offset. Therefore, based on the obstacle position information when the target vehicle detours the first obstacle and the lateral offset position of the target vehicle, the conflict area formed by the target vehicle and the rear dynamic obstacle when detour is determined.

[0061] Optionally, the target vehicle goes around the obstacle obs1 in front, and the trajectory forms a large deviation to the left. The high-speed dynamic obstacle obs2 behind moves forward quickly, and there is a risk of collision with the target vehicle approaching the left. The conflict area between the target vehicle and the dynamic obstacle obs2 is Figure 5 The target vehicle needs to decide whether to give way to the conflict zone or accelerate to force its way into the conflict zone. If the target vehicle has bypassed the obstacle obs1 at this time, the dynamic obstacle obs2 is located behind the target vehicle, and there is no longer a risk of conflict or collision.

[0062] Among them, see Figure 3 , take the target vehicle avoiding the rear dynamic obstacle obs2 as an example. The target vehicle's final parking position is located at the boundary of the first obstacle obs1 in front. If it moves forward, there will be a risk of collision with obs2. Then the lateral coordinate of the first obstacle here can be projected onto the trajectory of the target vehicle to obtain a projection point to obtain the longitudinal coordinate of this point, and the expected parking position of the target vehicle when avoiding the dynamic obstacle is determined based on the longitudinal coordinate.

[0063] S430: Screen the dynamic obstacles encountered by the target vehicle when it is circling according to preset obstacle screening conditions to determine the target dynamic obstacle.

[0064] Among them, the dynamic obstacles around the target vehicle are screened based on the preset obstacle screening conditions to obtain the target dynamic obstacles that need to be paid attention to. The preset obstacle screening conditions include but are not limited to the dynamic obstacles in front of the target vehicle, the dynamic obstacles behind the target vehicle that are greater than the preset distance threshold / less than the preset speed threshold, the dynamic obstacles on both sides of the target vehicle that are greater than the preset travel distance threshold, the dynamic obstacles around the target vehicle that are less than the preset lateral overlap ratio threshold, the dynamic obstacle orientation angle, and the dynamic obstacle trajectory prediction. For example, according to the preset obstacle screening conditions, the dynamic obstacles in front of the target vehicle, the dynamic obstacles behind the target vehicle that are greater than the preset distance threshold, and the dynamic obstacles on both sides of the target vehicle that are greater than the preset travel distance threshold are excluded.

[0065] As an optional but non-limiting implementation, the process of screening the dynamic obstacles of the target vehicle when it is detouring according to the preset obstacle screening conditions to determine the target dynamic obstacles includes but is not limited to steps B1-B2:

[0066] Step B1: Determine the lateral overlap ratio between the target vehicle and the dynamic obstacles around the target vehicle.

[0067] Step B2: If the lateral overlap ratio is less than a preset lateral overlap ratio threshold, the dynamic obstacle is removed to determine a target dynamic obstacle.

[0068] In this embodiment of the present invention, dynamic obstacles around the target vehicle with a ratio less than a preset lateral overlap threshold can also be excluded. Figure 6 , establish a notice area (the red rectangle in the figure) with the target vehicle as the center to exclude dynamic obstacles in the notice area or behind the target vehicle. Determine the lateral overlap ratio between the target vehicle and the dynamic obstacles around the target vehicle; if the lateral overlap ratio is less than the preset lateral overlap ratio threshold, it is considered that the dynamic obstacle is located behind the target vehicle, and the dynamic obstacle is eliminated to determine the target dynamic obstacle. Among them, the lateral overlap ratio is expressed as:

[0069]

[0070] Among them, ratio represents the horizontal overlap ratio, end obs Indicates the maximum lateral coordinate of the dynamic obstacle, end attention Indicates the maximum lateral coordinate of the target vehicle's attention area, start obs Indicates the minimum lateral coordinate of a dynamic obstacle.

[0071] In an optional solution of the embodiment of the present invention, dynamic obstacles behind the target vehicle with a speed lower than a preset speed threshold can also be excluded. If the dynamic obstacle is far from the target vehicle and the speed of the dynamic obstacle is lower than the speed of the target vehicle, the dynamic obstacle is ignored; if the distance is close, it is not ignored unless the speed difference is large enough to be ignored. In the embodiment of the present invention, dynamic obstacles behind the target vehicle with a speed lower than a preset speed threshold are sorted. The preset speed threshold is greatly different from the speed of the target vehicle. The specific value can be set according to the actual situation, and no specific limitation is made in the embodiment of the present invention.

[0072] In another optional solution of the embodiment of the present invention, dynamic obstacles can also be screened according to the orientation angle of the dynamic obstacles and the trajectory of the dynamic obstacles. Figure 7 , based on the orientation angle of the dynamic obstacle obs, a forward linear prediction is performed with a fixed step size. If the predicted trajectory is all behind the target vehicle, the dynamic obstacle is ignored.

[0073] In another optional scheme of the embodiment of the present invention, a judgment is made based on whether the target vehicle's passage space is invaded. For dynamic obstacles outside the boundary of the target vehicle's passage space, the predicted trajectory is used to infer whether the dynamic obstacle has invaded the target vehicle's passage space. If the trajectory always remains outside the target vehicle's passage space, the dynamic obstacle is ignored.

[0074] S440: Determine interaction information between the target dynamic obstacle and the target vehicle.

[0075] After the target dynamic obstacle requiring attention is determined, interaction information between the target dynamic obstacle and the target vehicle is determined.

[0076] As an optional but non-limiting implementation, the determining of the interaction information between the target dynamic obstacle and the target vehicle includes but is not limited to steps C1-C3:

[0077] Step C1: Determine the time when the target dynamic obstacle collides with the target vehicle based on the longitudinal coordinate position of the center of the target vehicle, the current speed of the target vehicle, the longitudinal position of the front of the target dynamic obstacle, and the current speed of the target dynamic obstacle.

[0078] The interaction information between the target dynamic obstacle and the target vehicle is calculated based on the time to collision (TTC), where the relative time for the target dynamic obstacle vehicle to catch up with the target vehicle is calculated as:

[0079]

[0080] Among them, t represents the time when the target dynamic obstacle collides with the target vehicle, s ego Indicates the longitudinal coordinate position of the center of the target vehicle, v ego Indicates the current speed of the target vehicle, s obs Indicates the longitudinal position of the target dynamic obstacle, v obs Indicates the current speed of the target dynamic obstacle.

[0081] Among them, if the target dynamic obstacle is close to the target vehicle or the target dynamic obstacle is already on the side of the target vehicle, it is meaningless to calculate the speed difference, so it is directly divided by the current driving speed of the target dynamic obstacle; when the obstacle is on the side of the target vehicle, the difference may be negative at this time. Since time t cannot take a negative value, it takes the maximum value with 0.

[0082] Step C2: determining the time when the target dynamic obstacle enters the conflict area, and determining whether the target dynamic obstacle collides with the target vehicle based on the time when the target dynamic obstacle enters the conflict area and the time when the target dynamic obstacle collides with the target vehicle.

[0083] Wherein, whether the target dynamic obstacle collides with the target vehicle is determined according to the time when the target dynamic obstacle enters the conflict area and the time when the target dynamic obstacle collides with the target vehicle.

[0084] As an optional but non-limiting implementation, determining whether the target dynamic obstacle collides with the target vehicle based on the time when the target dynamic obstacle enters the conflict area and the time when the target dynamic obstacle collides with the target vehicle includes but is not limited to steps D1-D2:

[0085] Step D1: If the time when the target dynamic obstacle enters the conflict area is less than the time when the target dynamic obstacle collides with the target vehicle, the target dynamic obstacle and the target vehicle will not collide.

[0086] Step D2: If the time when the target dynamic obstacle enters the conflict area is greater than the time when the target dynamic obstacle collides with the target vehicle, the target dynamic obstacle collides with the target vehicle.

[0087] The time when the target dynamic obstacle enters the conflict area is determined. When the target dynamic obstacle enters the conflict area and the target vehicle does not enter the conflict area, the conflict area generated by the target vehicle and the target dynamic obstacle disappears. The time when the target dynamic obstacle enters the conflict area can be expressed as:

[0088]

[0089] Among them, t limit Indicates the time when the target dynamic obstacle enters the conflict area, start confict Indicates the longitudinal coordinate of the target dynamic obstacle when it enters the conflict area.

[0090] Therefore, if the time it takes for the target dynamic obstacle to catch up with the target vehicle is greater than the time it takes for the target dynamic obstacle to enter the conflict area, there will be no collision risk, that is, t>t limit , the target dynamic obstacle is considered safe. If the time when the target dynamic obstacle enters the conflict area is greater than the time when the target dynamic obstacle collides with the target vehicle, the target dynamic obstacle collides with the target vehicle. In this embodiment of the present invention, the time when the target dynamic obstacle catches up with the target vehicle may refer to the time when the target dynamic obstacle collides with the target vehicle.

[0091] Step C3: If the target dynamic obstacle collides with the target vehicle, determine the longitudinal collision position when the target dynamic obstacle collides with the target vehicle.

[0092] When it is determined that there is a collision risk between the target dynamic obstacle and the target vehicle, the target vehicle needs to give way to the target dynamic obstacle. Therefore, it is necessary to determine the longitudinal collision position when the target dynamic obstacle collides with the target vehicle, so as to give way to the target dynamic obstacle. The longitudinal collision position can be expressed as:

[0093] S=sobs +v obs *t

[0094] Wherein, S represents the longitudinal collision position.

[0095] S450: Determine whether the target vehicle needs to yield and determine the target yielding position and the expected yielding speed when yielding is required based on the interactive information between the target dynamic obstacle and the target vehicle and the expected yielding position.

[0096] Among them, after obtaining the longitudinal collision position of each risk target dynamic obstacle and the target vehicle, the lateral position of the target dynamic obstacle and the target vehicle at this longitudinal collision position can be compared; if the distance between the lateral positions of the two is greater than the threshold, then there is no need to process this obstacle, and the threshold can be set differently based on different obstacle types. After that, the remaining target dynamic obstacle risk information needs to be processed, and the expected yield speed of the target vehicle under different target dynamic obstacle risk information is compared, and the minimum value is selected. This value is used as the speed limit value and handed over to the main planner for processing.

[0097] As an optional but non-limiting implementation, the determining whether the target vehicle needs to yield and determining the target yielding position and the expected yielding speed when yielding is required based on the interactive information between the target dynamic obstacle and the target vehicle and the expected yielding position includes but is not limited to steps E1-E2:

[0098] Step E1: determining a target stop and yield position when the target vehicle needs to yield, based on the longitudinal collision position when the target dynamic obstacle collides with the target vehicle and the expected stop and yield position.

[0099] Step E2: Determine the expected yielding speed of the target vehicle when yielding according to the target stopping position.

[0100] Wherein, the target stop and yield position when the target vehicle needs to yield is determined according to the longitudinal collision position when the target dynamic obstacle collides with the target vehicle and the expected stop and yield position. If the longitudinal collision position is closer to the target vehicle than the expected stop and yield position, the longitudinal collision position is selected as the target stop and yield position when the target vehicle needs to yield; otherwise, the expected stop and yield position is selected as the target stop and yield position when the target vehicle needs to yield. The target stop and yield position can be expressed as:

[0101] s stop =min(s conflict ,s obs +v obs *t)

[0102] Among them, s stoprepresents the target stop position, s conflict Indicates the desired stop position.

[0103] Optionally, assuming that the target dynamic obstacle keeps moving forward at a constant speed, the time it takes for its rear end to pass the target stop position is t pass , then the speed of the target vehicle is reduced to v ideal When the target vehicle reaches the target stop position after the target dynamic obstacle, driving safety can be guaranteed. The speed v after the target vehicle is decelerated ideal Expressed as.

[0104]

[0105] Among them, the speed of the target vehicle is reduced to v ideal The common method of setting up virtual obstacles for parking is replaced by a driving strategy of speed limit without braking, which ensures the traffic efficiency of the target vehicle and effectively avoids the risk of rear-end collision caused by sudden or heavy braking.

[0106] In an optional solution of an embodiment of the present invention, when the curvature of the target vehicle is relatively gentle, no deceleration action is performed. When calculating the expected yielding speed of the target vehicle, it is necessary to consider the time for the chassis actuator of the target vehicle to respond to the deceleration command, so a certain buffer time needs to be considered. In order to maintain the continuity of the decision, if there is a deceleration decision in the previous frame, the decision calculation needs to be continued in this frame, and the first step of detour scene judgment is no longer performed.

[0107] The embodiment of the present invention provides a safe detour method based on conflict zone identification, by determining that the target vehicle is in a detour scene; determining the conflict area formed by the target vehicle and the dynamic obstacle when detouring, and the expected parking position when the target vehicle avoids the dynamic obstacle; screening the dynamic obstacles of the target vehicle when detouring according to the preset obstacle screening conditions, determining the target dynamic obstacle, and determining the interaction information between the target dynamic obstacle and the target vehicle; determining whether the target vehicle needs to give way and determining the target parking position and the expected speed when giving way according to the interaction information between the target dynamic obstacle and the target vehicle and the expected parking position. The technical solution of the embodiment of the present invention is adopted to identify the conflict area formed by the target vehicle and other dynamic obstacles, and reasonably generate the time information of the target vehicle trajectory based on the conflict area to avoid the risk of collision. The strategy of deciding that the target vehicle maintains safe communication with other dynamic obstacles before the conflict area is adopted, and the decision of speed limit without stopping is adopted, which ensures the traffic efficiency of the target vehicle and effectively avoids the risk of rear-end collision caused by sudden braking or heavy braking.

[0108] Embodiment 3

[0109] Figure 8: is a schematic diagram of the structure of a safe bypass device based on conflict zone identification provided in an embodiment of the present invention. The technical solution of this embodiment can be applied to safe bypass based on conflict zone identification. The device can be implemented by software and / or hardware and is generally integrated on any electronic device with network communication function, including but not limited to: servers, computers, personal digital assistants and other devices. Figure 8 As shown, the safe detour device based on conflict zone identification provided in this embodiment may include: a detour scenario determination module 810, a conflict zone determination module 820, a dynamic obstacle processing module 830 and a target vehicle yield decision module 840; wherein,

[0110] A detour scene determination module 810 is used to determine whether the target vehicle is in a detour scene;

[0111] The conflict area determination module 820 is used to determine the conflict area formed by the target vehicle and the dynamic obstacle when detouring, and the expected stopping position of the target vehicle when avoiding the dynamic obstacle;

[0112] The dynamic obstacle processing module 830 is used to screen the dynamic obstacles encountered by the target vehicle when it is detouring, and determine the interaction information between the target dynamic obstacle and the target vehicle; the interaction information includes the time when the target dynamic obstacle collides with the target vehicle, the longitudinal collision position when the target dynamic obstacle collides with the target vehicle, and the time when the target dynamic obstacle enters the conflict area;

[0113] The target vehicle yielding decision module 840 is used to determine whether the target vehicle needs to yield and determine the target yielding position and expected yielding speed when yielding is required based on the interactive information between the target dynamic obstacle and the target vehicle and the expected yielding position.

[0114] Based on the above embodiment, optionally, the conflict area determination module is specifically used to:

[0115] According to the obstacle position information when the target vehicle is bypassing the first obstacle and the lateral offset position of the target vehicle when bypassing, the conflict area formed between the target vehicle and the dynamic obstacle when bypassing is determined; wherein the first obstacle is an obstacle in front of the target vehicle that needs to be bypassed, and the dynamic obstacle is a dynamic obstacle located behind the target vehicle;

[0116] Determine the longitudinal coordinate of the projection point of the lateral coordinate of the boundary of the first obstacle on the path of the target vehicle, and determine the expected stopping and yielding position of the target vehicle when avoiding the dynamic obstacle based on the longitudinal coordinate; wherein the expected stopping and yielding position is the stopping position where the target vehicle expects to yield when the target vehicle adopts a yielding strategy.

[0117] Based on the above embodiment, optionally, the dynamic obstacle processing module is specifically used to:

[0118] According to the preset obstacle screening conditions, dynamic obstacles of the target vehicle when it is detouring are screened, the target dynamic obstacle is determined, and the interaction information between the target dynamic obstacle and the target vehicle is determined;

[0119] Among them, the preset obstacle screening conditions include dynamic obstacles in front of the target vehicle, dynamic obstacles behind the target vehicle that are greater than a preset distance threshold / less than a preset speed threshold, dynamic obstacles on both sides of the target vehicle that are greater than a preset travel distance threshold, dynamic obstacles around the target vehicle that are less than a preset lateral overlap ratio threshold, dynamic obstacle orientation angle, and dynamic obstacle trajectory prediction.

[0120] Based on the above embodiment, optionally, the dynamic obstacle processing module is further specifically used for:

[0121] Determine the lateral overlap ratio between the target vehicle and the dynamic obstacles around the target vehicle;

[0122] If the lateral overlap ratio is less than a preset lateral overlap ratio threshold, the dynamic obstacle is removed to determine the target dynamic obstacle;

[0123] Wherein, the lateral overlap ratio is expressed as:

[0124]

[0125] Among them, ratio represents the horizontal overlap ratio, end obs Indicates the maximum lateral coordinate of the dynamic obstacle, end attention Indicates the maximum lateral coordinate of the target vehicle's attention area, start obs Indicates the minimum lateral coordinate of a dynamic obstacle.

[0126] Based on the above embodiment, optionally, the dynamic obstacle processing module is specifically used to:

[0127] Determine the time when the target dynamic obstacle collides with the target vehicle based on the longitudinal coordinate position of the center of the target vehicle, the current speed of the target vehicle, the longitudinal position of the front position of the target dynamic obstacle, and the current speed of the target dynamic obstacle;

[0128] Determining the time when the target dynamic obstacle enters the conflict area, and determining whether the target dynamic obstacle collides with the target vehicle based on the time when the target dynamic obstacle enters the conflict area and the time when the target dynamic obstacle collides with the target vehicle;

[0129] If the target dynamic obstacle collides with the target vehicle, a longitudinal collision position when the target dynamic obstacle collides with the target vehicle is determined.

[0130] Based on the above embodiment, optionally, the dynamic obstacle processing module is specifically used to:

[0131] If the time when the target dynamic obstacle enters the conflict area is less than the time when the target dynamic obstacle collides with the target vehicle, the target dynamic obstacle and the target vehicle will not collide;

[0132] If the time when the target dynamic obstacle enters the conflict area is greater than the time when the target dynamic obstacle collides with the target vehicle, the target dynamic obstacle collides with the target vehicle.

[0133] Based on the above embodiment, optionally, the target vehicle yielding decision module is specifically used to:

[0134] Determining a target stop and yield position when the target vehicle needs to yield, based on a longitudinal collision position when the target dynamic obstacle collides with the target vehicle and an expected stop and yield position;

[0135] According to the target stop and yield position, an expected yielding speed of the target vehicle when yielding is determined.

[0136] The safe bypass device based on conflict zone identification provided in the embodiment of the present invention can execute the safe bypass method based on conflict zone identification provided in any of the above-mentioned embodiments of the present invention, and has the corresponding functions and beneficial effects of executing the safe bypass method based on conflict zone identification. For detailed processes, please refer to the relevant operations of the safe bypass method based on conflict zone identification in the above-mentioned embodiments.

[0137] Embodiment 4

[0138] Fig. 9 1 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0139] like Fig. 9As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0140] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0141] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a safe bypass method based on conflict zone identification.

[0142] In some embodiments, the security bypass method based on conflict zone identification can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the security bypass method based on conflict zone identification described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the security bypass method based on conflict zone identification in any other appropriate manner (for example, by means of firmware).

[0143] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0144] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0145] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0146] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0147] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0148] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0149] Embodiment 5

[0150] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements a secure bypass method based on conflict zone identification as provided in any embodiment of the present application.

[0151] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0152] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0153] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A safe bypass method based on conflict zone identification, characterized in that: The method comprises: Determine that the target vehicle is in a detour scenario; Determine the conflict area between the target vehicle and the dynamic obstacle when detouring, and the expected stopping position of the target vehicle when avoiding the dynamic obstacle; Screening the dynamic obstacles encountered by the target vehicle when it is detouring, and determining the interaction information between the target dynamic obstacle and the target vehicle; the interaction information includes the time when the target dynamic obstacle collides with the target vehicle, the longitudinal collision position when the target dynamic obstacle collides with the target vehicle, and the time when the target dynamic obstacle enters the conflict area; According to the interactive information between the target dynamic obstacle and the target vehicle and the expected stop and yield position, it is determined whether the target vehicle needs to yield and the target stop and yield position and the expected yield speed when yielding is required.

2. The method according to claim 1, characterized in that The determining of the conflict area between the target vehicle and the dynamic obstacle when the target vehicle is detouring, and the expected stopping position of the target vehicle when avoiding the dynamic obstacle, includes: According to the obstacle position information when the target vehicle is bypassing the first obstacle and the lateral offset position of the target vehicle when bypassing, the conflict area formed between the target vehicle and the dynamic obstacle when bypassing is determined; wherein the first obstacle is an obstacle in front of the target vehicle that needs to be bypassed, and the dynamic obstacle is a dynamic obstacle located behind the target vehicle; Determine the longitudinal coordinate of the projection point of the lateral coordinate of the boundary of the first obstacle on the path of the target vehicle, and determine the expected stopping and yielding position of the target vehicle when avoiding the dynamic obstacle based on the longitudinal coordinate; wherein the expected stopping and yielding position is the stopping position where the target vehicle expects to yield when the target vehicle adopts a yielding strategy.

3. The method according to claim 1, characterized in that The screening of dynamic obstacles when the target vehicle is detouring and determining the interaction information between the target dynamic obstacles and the target vehicle includes: According to the preset obstacle screening conditions, dynamic obstacles of the target vehicle when it is detouring are screened, the target dynamic obstacle is determined, and the interaction information between the target dynamic obstacle and the target vehicle is determined; Among them, the preset obstacle screening conditions include dynamic obstacles in front of the target vehicle, dynamic obstacles behind the target vehicle that are greater than a preset distance threshold / less than a preset speed threshold, dynamic obstacles on both sides of the target vehicle that are greater than a preset travel distance threshold, dynamic obstacles around the target vehicle that are less than a preset lateral overlap ratio threshold, dynamic obstacle orientation angle, and dynamic obstacle trajectory prediction.

4. The method according to claim 3, characterized in that The step of screening the dynamic obstacles of the target vehicle when it is detouring according to the preset obstacle screening conditions to determine the target dynamic obstacles includes: Determine the lateral overlap ratio between the target vehicle and the dynamic obstacles around the target vehicle; If the lateral overlap ratio is less than a preset lateral overlap ratio threshold, the dynamic obstacle is removed to determine the target dynamic obstacle; Wherein, the lateral overlap ratio is expressed as: Among them, ratio represents the horizontal overlap ratio, end obs Indicates the maximum lateral coordinate of the dynamic obstacle, end attention Indicates the maximum lateral coordinate of the target vehicle's attention area, start obs Indicates the minimum lateral coordinate of a dynamic obstacle.

5. The method according to claim 1, characterized in that The step of determining the interaction information between the target dynamic obstacle and the target vehicle includes: Determine the time when the target dynamic obstacle collides with the target vehicle based on the longitudinal coordinate position of the center of the target vehicle, the current speed of the target vehicle, the longitudinal position of the front position of the target dynamic obstacle, and the current speed of the target dynamic obstacle; Determining the time when the target dynamic obstacle enters the conflict area, and determining whether the target dynamic obstacle collides with the target vehicle based on the time when the target dynamic obstacle enters the conflict area and the time when the target dynamic obstacle collides with the target vehicle; If the target dynamic obstacle collides with the target vehicle, a longitudinal collision position when the target dynamic obstacle collides with the target vehicle is determined.

6. The method according to claim 5, characterized in that The determining whether the target dynamic obstacle collides with the target vehicle according to the time when the target dynamic obstacle enters the conflict area and the time when the target dynamic obstacle collides with the target vehicle comprises: If the time when the target dynamic obstacle enters the conflict area is less than the time when the target dynamic obstacle collides with the target vehicle, the target dynamic obstacle and the target vehicle will not collide; If the time when the target dynamic obstacle enters the conflict area is greater than the time when the target dynamic obstacle collides with the target vehicle, the target dynamic obstacle collides with the target vehicle.

7. The method according to claim 1, characterized in that The determining whether the target vehicle needs to yield and determining the target yielding position and the expected yielding speed when yielding is required based on the interactive information between the target dynamic obstacle and the target vehicle and the expected yielding position includes: Determining a target stop and yield position when the target vehicle needs to yield, based on a longitudinal collision position when the target dynamic obstacle collides with the target vehicle and an expected stop and yield position; According to the target stop and yield position, an expected yielding speed of the target vehicle when yielding is determined.

8. A safe bypass device based on conflict zone identification, characterized in that: The device comprises: A detour scene determination module, used to determine whether the target vehicle is in a detour scene; A conflict area determination module is used to determine the conflict area formed by the target vehicle and the dynamic obstacle when detouring, and the expected stopping position of the target vehicle when avoiding the dynamic obstacle; A dynamic obstacle processing module is used to screen dynamic obstacles encountered by the target vehicle when it is detouring, and determine the interaction information between the target dynamic obstacle and the target vehicle; the interaction information includes the time when the target dynamic obstacle collides with the target vehicle, the longitudinal collision position when the target dynamic obstacle collides with the target vehicle, and the time when the target dynamic obstacle enters the conflict area; The target vehicle yielding decision module is used to determine whether the target vehicle needs to yield and determine the target yielding position and expected yielding speed when yielding is required based on the interactive information between the target dynamic obstacle and the target vehicle and the expected yielding position.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the security bypass method based on conflict area identification as described in any one of claims 1 to 7.

10. A storage medium containing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to execute the security bypass method based on conflict zone identification as described in any one of claims 1 to 7.

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