Steering obstacle avoidance control method and device, computer equipment and storage medium

Abstract

The invention relates to a steering obstacle avoidance control method and device, computer equipment and a storage medium, the method comprises the steps that vehicle steering control parameters, vehicle body parameters and obstacle parameters are obtained, the control parameters comprise the wheel turning angle of a vehicle, the vehicle body parameters comprise the axle distance, and the obstacle parameters comprise the wheel turning angle of the vehicle; the obstacle parameters comprise position parameters of obstacles on the turning inner side; according to the control parameters, the vehicle body parameters and the obstacle parameters, whether scratching occurs or not is determined; executing an obstacle avoidance instruction under the condition of determining that the scratching can occur, including controlling a steering inner side front wheel to perform single-wheel braking and controlling a steering inner side rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner side front wheel; by the adoption of the method, the problem that in the prior art, the vehicle cannot automatically recognize the steering rubbing risk and avoid obstacles can be solved.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and in particular to a steering obstacle avoidance control method, device, computer equipment and storage medium. Background Art

[0002] When turning a car, it is very important to grasp the timing of the turning direction. Correctly judging the timing and angle of the turning is a key factor in ensuring driving safety. When turning, turning too early or too late will increase the risk of the vehicle losing control, which may lead to a collision with an oncoming vehicle or driving off the roadbed.

[0003] During the steering process, if the steering wheel is turned too early or the turning angle is too large, the vehicle may cause a scratch between the vehicle and the inner obstacle. The relevant technology relies on human experience to judge the risk of scratching and avoid obstacles. Summary of the invention

[0004] Based on this, a steering obstacle avoidance control method, device, computer equipment and storage medium are provided to improve the problem in the prior art that the vehicle cannot automatically identify the risk of steering scratches and avoid obstacles.

[0005] On the one hand, a steering obstacle avoidance control method is provided, comprising:

[0006] Acquire a control parameter, a body parameter, and an obstacle parameter of the vehicle steering, wherein the control parameter includes a wheel angle of the vehicle, the body parameter includes a wheelbase, and the obstacle parameter includes a position parameter of an obstacle on the inner side of the steering wheel;

[0007] Determining whether a scratch will occur according to the control parameters, vehicle body parameters and obstacle parameters;

[0008] When it is determined that a scratch will occur, an obstacle avoidance command is executed, including controlling the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel.

[0009] In one embodiment, determining whether a scratch will occur according to the control parameter, the vehicle body parameter and the obstacle parameter includes:

[0010] Determine a first position parameter of a steering center according to the wheel angle and the vehicle body parameter;

[0011] Determining a first distance between a steering center and a steering inner side of the vehicle body according to the first position parameter;

[0012] Acquire a second position parameter of the terminal vertex of the turning inner obstacle, and determine a second distance between the turning center and the terminal vertex of the turning inner obstacle according to the first position parameter and the second position parameter;

[0013] Based on the comparison between the first distance and the second distance, it is determined whether a scratch will occur.

[0014] In one embodiment, before executing the obstacle avoidance instruction, the method further includes:

[0015] Obtain a third distance of the end vertex of the obstacle on the inner side of the turn relative to the center line of the front axle;

[0016] When the third distance is greater than zero, an obstacle avoidance instruction is executed.

[0017] In one embodiment, after executing the obstacle avoidance instruction, the method further includes:

[0018] Obtaining a distance difference according to the first distance and the second distance;

[0019] In response to executing the obstacle avoidance instruction, updating the distance difference;

[0020] When the distance difference is greater than or equal to the safety distance threshold, the obstacle avoidance instruction is stopped.

[0021] In one embodiment, before obtaining the distance difference, the method further includes:

[0022] Obtain the third position parameter of the end vertex of the obstacle turned to the outside;

[0023] Determining a fourth distance between the obstacle turned outward and the vehicle body turned outward according to the third position parameter;

[0024] The safety distance threshold is determined according to the fourth distance.

[0025] In one embodiment, determining the safety distance threshold according to the fourth distance includes:

[0026] When the fourth distance is greater than zero and less than the vehicle width, determining the safety distance threshold according to a preset ratio of the fourth distance;

[0027] When the fourth distance is greater than or equal to the vehicle width, the safety distance threshold is determined according to a fixed threshold.

[0028] In one embodiment, obtaining the second position parameter of the terminal vertex of the obstacle turned to the inside includes:

[0029] Acquire detection data of the turning inner obstacle, wherein the detection data includes position parameters of each point of the turning inner obstacle;

[0030] Determine a fifth distance of each point on the obstacle on the inner side of the turning relative to the turning center based on the detection data and the first position parameter of the turning center;

[0031] The point with the largest fifth distance is determined to be the terminal vertex of the obstacle turned inside.

[0032] On the other hand, a steering obstacle avoidance control device is provided, the device comprising:

[0033] An acquisition module, used to acquire a control parameter, a body parameter and an obstacle parameter of the vehicle steering, wherein the control parameter includes a wheel angle of the vehicle, the body parameter includes a wheelbase, and the obstacle parameter includes a position parameter of an obstacle on the inner side of the steering wheel;

[0034] A risk identification module, used to determine whether a scratch will occur based on the control parameters, vehicle body parameters and obstacle parameters;

[0035] The obstacle avoidance execution module is used to execute obstacle avoidance instructions when it is determined that a scratch will occur, including controlling the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel.

[0036] In another aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the method is implemented when the processor executes the computer program.

[0037] A computer-readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the method described above is implemented.

[0038] The above-mentioned steering obstacle avoidance control method, device, computer equipment and storage medium obtain the vehicle's control parameters, body parameters and obstacle parameters during the steering process, and judge whether a scratch will occur based on the control parameters, body parameters and obstacle parameters, and execute the obstacle avoidance command when there is a risk of scratch, control the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel, helping to eliminate the risk of scratches. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of a steering scene in one embodiment;

[0040] Figure 2 A schematic diagram of a flow chart of a steering obstacle avoidance control method in one embodiment;

[0041] Figure 3 A schematic diagram of an embodiment before and after turning to avoid obstacles;

[0042] Figure 4 The figure is a schematic diagram of a process of identifying a scratch risk in one embodiment;

[0043] Figure 5A schematic diagram of another embodiment before and after turning to avoid obstacles;

[0044] Figure 6 is a structural block diagram of a steering obstacle avoidance control device in one embodiment;

[0045] Figure 7 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] During the vehicle's steering process, the steering timing and steering angle are controlled by the driver based on experience. On narrow roads, obstacles on the inside of the steering wheel can easily scratch the vehicle body, and existing vehicle technology makes it difficult to identify scratch risks in advance.

[0048] The present application provides a steering obstacle avoidance control method, which can automatically realize the scratch risk identification of steering and execute the obstacle avoidance command when there is a scratch risk. It can be applied to autonomous driving vehicles or as an auxiliary driving means. The schematic diagram of vehicle steering is as follows Figure 1 shown.

[0049] In one embodiment, a steering obstacle avoidance control method is provided as follows: Figure 2 As shown, the following steps are included:

[0050] Step S100, obtaining vehicle steering control parameters, vehicle body parameters and obstacle parameters.

[0051] During the vehicle steering process, the control parameters and body parameters directly affect the vehicle's steering angle, the position of the steering center, the steering radius, etc. The obstacle parameters correspond to the position of the obstacle relative to the vehicle, and have a direct impact on whether scratches will occur. In this embodiment, the control parameters include at least the vehicle's wheel angle, the body parameters include the wheelbase, and the obstacle parameters include the position parameters of the turning inner obstacle.

[0052] Step S200, determining whether a scratch will occur based on control parameters, vehicle body parameters and obstacle parameters.

[0053] Based on the above control parameters, vehicle body parameters and obstacle parameters, a comprehensive judgment is made as to whether a scratch will occur. In one implementation, based on the autonomous driving trajectory prediction technology, a neural network model is used to predict the vehicle trajectory. If the obstacle interferes with the vehicle body, there is a risk of scratching. In other implementations, vehicle dynamics and kinematics theory are used to rely on perfect mathematical and statistical techniques to predict the risk of scratching based on historical data and predefined models.

[0054] Step S300, when it is determined that a scratch may occur, an obstacle avoidance instruction is executed.

[0055] During the actual implementation process, the driver can be prompted based on various prompt instructions, such as sound and light alarms, voice prompts, etc., or the entire vehicle can be braked based on the intelligent driving function to avoid scratches.

[0056] In this embodiment, executing the obstacle avoidance instruction includes:

[0057] The inner front wheel is controlled to perform single-wheel braking and the inner rear wheel is controlled to perform intermittent braking, so that the vehicle rotates around the inner front wheel.

[0058] For example, during the forward steering process of the vehicle, the inner front wheel is hydraulically braked to make its wheel speed 0; the inner rear wheel is intermittently applied and released with a certain frequency; while the two wheels on the other side maintain their original wheel speeds, so that the resistance on the wheels is unbalanced, causing a slight side slip phenomenon centered on the inner front wheel, such as Figure 3 As shown, the rear part of the vehicle can deviate to the side away from the obstacle, thereby achieving obstacle avoidance during the turning process.

[0059] On the other hand, in this embodiment, by controlling the braking of different wheels, obstacle avoidance is achieved while also correcting the vehicle's posture, so that the vehicle can continue to pass the turning section smoothly.

[0060] For step S200, a method for determining the risk of scratching is described below. Figure 4 As shown, the following steps are included:

[0061] Step 201, obtaining a wheel angle of the vehicle; and determining a first position parameter of the steering center according to the wheel angle and a vehicle body parameter.

[0062] The wheel angle refers to the angle at which the wheel deviates from the longitudinal direction of the vehicle. During the vehicle steering process, the wheel angle corresponds to the steering angle of the steering wheel. Therefore, the wheel angle can be obtained by identifying the steering angle of the steering wheel and using the corresponding relationship.

[0063] During the actual steering process, the wheel turning angles of the inner wheel and the outer wheel may be different. For example, in the Ackerman steering geometry principle, the turning angle of the inner wheel is greater than that of the outer wheel, and the turning angle of the front axle midpoint is equal to the average of the left and right wheel turning angles. In some implementations, the turning angle of the front axle midpoint is obtained as the wheel turning angle by obtaining the left and right wheel turning angles and averaging them.

[0064] In this embodiment, in the case of a small steering angle, the deviation between the left and right wheel angles and the front axle midpoint angle can be ignored, and the steering angle of one wheel can be used for calculation, for example Figure 1 The angle δ in .

[0065] The first position parameter of the steering center C can be determined according to the wheel angle δ combined with the body parameters, and the body parameters include the wheelbase L, as described below:

[0066] In this embodiment, a coordinate system is established with the center point of the vehicle as the origin, the longitudinal direction of the vehicle as the X-axis, and the transverse direction of the vehicle as the Y-axis. The turning radius R is the line between the center point of the vehicle and the turning center C. In the actual turning process, the turning center C is located on the extension line of the rear axle of the vehicle, and according to the trigonometric function, tan(δ)=L / R' can be obtained, where R' is defined as the distance between the midpoint of the rear axle and the turning center. After R' is determined, the coordinate of the turning center C relative to the center point of the vehicle (i.e., the first position parameter) can be located: (x C ,y C )=(-L / 2,R').

[0067] The first position parameter can be expressed in polar coordinates:

[0068] In the above process, the steering radius R and the driving angle θ are also determined synchronously according to the wheel turning angle δ and the vehicle body parameters, where R, θ, and R′ have the following relationship:

[0069] tan(θ)=(L / 2) / R';

[0070] sinθ=(L / 2) / R.

[0071] It can be understood that the driving angle θ is the angle between the movement direction of the vehicle center point and the longitudinal axis of the vehicle. When the vehicle turns at a certain angle at a low speed, the vehicle trajectory can be approximately regarded as a circular motion around the turning center C and the radius R. For the center point of the vehicle, it can be regarded as a circular motion around point C with θ as the tangent direction.

[0072] The center of the circle is at C(x C ,y C ) is:

[0073] (xx C ) 2 +(yy C ) 2 =R 2

[0074] Among them, x C =x0-Rsin(θ),y C=y0+Rcos(θ), x0 and y0 are the initial coordinates of the center point of the vehicle relative to the coordinate origin at the initial moment, and are both zero in this embodiment.

[0075] Step 202: Determine a first distance between a turning center and an inner side of a vehicle body according to a first position parameter.

[0076] In determining the first position parameter (x C ,y C ), the first distance D1 can be calculated:

[0077]

[0078] Where W is the vehicle width.

[0079] Step 203: Acquire a second position parameter of the terminal vertex of the turning inner obstacle, and determine a second distance between the turning center and the terminal vertex of the turning inner obstacle according to the first position parameter and the second position parameter.

[0080] For obstacles turning inward (such as corners), the terminal vertex is the most likely location for collision. Based on the radar arrangement around the vehicle body, when the vehicle starts, the distance between the two sides of the vehicle body and the surrounding obstacles is collected in real time, and the second position parameter (x p ,y p ).

[0081] In determining the first position parameter (x C ,y C ), the second position parameter (x p ,y p ), the second distance D2 between the two can be calculated:

[0082]

[0083] Step 204, determining whether a scratch will occur based on a comparison between the first distance and the second distance.

[0084] Through the vehicle body radar detection, the end position of the obstacle on the inner side of the steering wheel is recorded as point P (x p ,y p ), the vehicle can be regarded as making circular motion around the turning center C. Assuming that the vehicle is stationary, point P is relative to the vehicle making circular motion around point C. The condition for the vehicle to collide with the obstacle on the inner side of the turning is D2>D1, that is:

[0085]

[0086] By comparing the numerical values ​​between the two, the risk of scratches can be accurately identified before they occur.

[0087] In the above embodiment, the position of the steering center is determined based on the vehicle's wheel angle combined with the body parameters, and then the distance of the steering center relative to the inner side of the vehicle body is calculated. On the other hand, the position of the end vertex of the obstacle on the inner side of the steering is obtained, and then its distance from the steering center is calculated. Based on the distance comparison, the risk of scratching is identified, and the obstacle avoidance command is executed before the scratch occurs.

[0088] For the obstacle on the inner side of the turn, it usually has a certain volume, and not every point may collide with the vehicle. Accurately identifying the position that may collide with the vehicle is the premise of identifying the risk of collision. The above embodiment uses the terminal vertex as a reference point to identify the risk of collision. The following describes the process of determining the terminal vertex:

[0089] Acquire detection data of the obstacle on the turning inside, the detection data including position parameters of each point of the obstacle on the turning inside; determine the fifth distance of each point on the obstacle on the turning inside relative to the turning center based on the radar detection data and the first position parameter of the turning center; determine the point with the largest fifth distance as the terminal vertex of the obstacle on the turning inside.

[0090] During the actual implementation process, the obstacles on the inner side of the turn are scanned by detection means such as radar, and detection data about the obstacles (such as point cloud information containing data such as the target's direction, distance, height and speed) are obtained. The position parameters (coordinates) of each point on the inner side of the turn obstacle are obtained, and the fifth distance of each point on the obstacle relative to the turning center is calculated. The point with the largest fifth distance is taken as the terminal vertex of the inner side of the turn obstacle. The largest fifth distance is the second distance mentioned above.

[0091] In one embodiment, the timing of executing the obstacle avoidance instruction is further described so that the vehicle can smoothly bypass the obstacle.

[0092] For example, when it is determined that the vehicle is at risk of being scratched, the third distance of the end vertex of the obstacle on the inner side of the turn relative to the center line of the front axle is obtained. When the third distance is greater than zero, the obstacle avoidance command is executed. The center line of the front axle is the straight line connecting the center points of the left and right front wheels.

[0093] Combination Figure 1 As shown, the third distance D3 can be obtained by the second position parameter (x p ,y p ) is calculated by calculating the distance between point P and the straight line where the front axle is located. When D3>0, the obstacle avoidance function is activated, which can make the vehicle avoid the circular track where point P is located. If the obstacle avoidance function is activated too early, the front part of the vehicle may face the obstacle too early, which is not conducive to steering. Figure 5shown.

[0094] In one embodiment, the timing of stopping the execution of the obstacle avoidance instruction is also described as follows:

[0095] A distance difference is obtained according to the first distance and the second distance; in response to executing an obstacle avoidance instruction, the distance difference is updated; and when the distance difference is greater than or equal to a safety distance threshold, the execution of the obstacle avoidance instruction is stopped.

[0096] During the process of single-wheel braking of the inner front wheel and intermittent braking of the inner rear wheel, the new steering center is monitored in real time to calculate the new D1 and D2. The difference between the two is used to obtain the distance difference ΔD. Until the distance difference ΔD reaches or exceeds the safety distance threshold S, the obstacle avoidance command stop condition is:

[0097]

[0098] By limiting the obstacle avoidance command stop conditions, the vehicle can be restored to the driver's control state.

[0099] Among them, the safety distance threshold S depends on the distance S1 between the obstacle turning to the outside and the vehicle body turning to the outside. Before executing the obstacle avoidance instruction, the third position parameter of the end vertex of the obstacle turning to the outside is obtained; according to the third position parameter, the fourth distance between the obstacle turning to the outside and the vehicle body turning to the outside is determined; and the safety distance threshold is determined according to the fourth distance.

[0100] During the actual implementation process, based on detection technologies such as radar, the obstacle closest to the vehicle in the process of turning to the outside is detected, and the point of the obstacle closest to the vehicle is used as a reference point to obtain its third position relative to the center point of the vehicle, and the fourth distance S1 of the third position relative to the straight line where the outer side of the vehicle body is located is calculated. The larger S1 is, the less likely the vehicle is to collide with the obstacle on the outside during the process of braking and obstacle avoidance. The safety distance threshold S can be set to a larger value. Otherwise, the safety distance threshold S needs to be set to a smaller value to ensure that while avoiding the obstacle on the inside of the turn, no scratches are generated with the obstacle on the outside of the turn.

[0101] Exemplarily, the safety distance threshold is set based on the following principles:

[0102] In the case of 0<S1<W, the safety distance threshold S is determined according to the preset ratio K of the fourth distance, and generally K<1, for example, the control is performed according to the ratio S / S1+S=0.7, so as to avoid the obstacle while avoiding the obstacle on the outside of the steering wheel;

[0103] When S1 ≥ W, the safety distance threshold S is determined according to a fixed threshold, and the fixed threshold is calibrated according to the actual vehicle situation.

[0104] And it can be understood that, when S1<0, the obstacle avoidance function is not activated.

[0105] It should be understood that although Figure 2 , Figure 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 , Figure 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0106] In one embodiment, Figure 6 As shown, a steering obstacle avoidance control device is provided, comprising: an acquisition module 210, a risk identification module 220 and an obstacle avoidance execution module 230, wherein:

[0107] An acquisition module 210 is used to acquire a control parameter, a body parameter and an obstacle parameter of the vehicle steering, wherein the control parameter includes a wheel angle of the vehicle, the body parameter includes a wheelbase, and the obstacle parameter includes a position parameter of an obstacle on the inner side of the steering wheel;

[0108] A risk identification module 220, for determining whether a scratch will occur based on control parameters, vehicle body parameters and obstacle parameters;

[0109] The obstacle avoidance execution module 230 is used to execute the obstacle avoidance instruction when it is determined that a scratch will occur, including controlling the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel.

[0110] The above-mentioned steering obstacle avoidance control device obtains the vehicle's control parameters, body parameters and obstacle parameters during the steering process, and determines whether a scratch will occur based on the control parameters, body parameters and obstacle parameters. When there is a risk of scratching, the device executes the obstacle avoidance command to control the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel, helping to eliminate the risk of scratching.

[0111] In one embodiment, the risk identification module 220 is used to determine a first position parameter of the turning center based on the wheel angle and the vehicle body parameters; determine a first distance between the turning center and the inner side of the vehicle body based on the first position parameter; obtain a second position parameter of the end vertex of the obstacle on the turning inner side, and determine a second distance between the turning center and the end vertex of the obstacle on the turning inner side based on the first position parameter and the second position parameter; determine whether a scratch will occur based on a comparison of the first distance and the second distance.

[0112] In one embodiment, the acquisition module 210 is used to acquire a third distance of the end vertex of the turning inner obstacle relative to the center line of the front axle, and the obstacle avoidance execution module 230 is used to execute the obstacle avoidance instruction when the third distance is greater than zero.

[0113] In one embodiment, the risk identification module 220 is used to obtain a distance difference based on the first distance and the second distance, and update the distance difference in response to executing an obstacle avoidance instruction. The obstacle avoidance execution module 230 stops executing the obstacle avoidance instruction when the distance difference is greater than or equal to a safety distance threshold.

[0114] The acquisition module 210 is also used to acquire a third position parameter of the end vertex of the obstacle turning to the outside, and the risk identification module 220 is used to determine a fourth distance between the obstacle turning to the outside and the vehicle body turning to the outside based on the third position parameter; determine a safety distance threshold based on the fourth distance, including determining the safety distance threshold according to a preset ratio of the fourth distance when the fourth distance is greater than zero and less than the vehicle width; and determining the safety distance threshold according to a fixed threshold when the fourth distance is greater than or equal to the vehicle width.

[0115] In one embodiment, the acquisition module 210 is used to acquire detection data of the turning inner obstacle, and the detection data includes position parameters of each point of the turning inner obstacle;

[0116] The acquisition module 210 is used to determine the fifth distance of each point on the turning inner obstacle relative to the turning center based on the radar detection data and the first position parameter of the turning center; and determine the point with the largest fifth distance as the terminal vertex of the turning inner obstacle.

[0117] For the specific definition of the steering obstacle avoidance control device, please refer to the definition of the steering obstacle avoidance control method above, which will not be repeated here. Each module in the above-mentioned steering obstacle avoidance control device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0118] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a steering obstacle avoidance control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0119] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0120] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0121] Obtaining a control parameter, a body parameter, and an obstacle parameter of the vehicle steering, wherein the control parameter includes a wheel angle of the vehicle, the body parameter includes a wheelbase, and the obstacle parameter includes a position parameter of an obstacle on the inner side of the steering wheel;

[0122] Determine whether a scratch will occur based on control parameters, vehicle body parameters and obstacle parameters;

[0123] When it is determined that a scratch will occur, an obstacle avoidance command is executed, including controlling the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel.

[0124] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0125] Determine whether a scratch will occur based on control parameters, vehicle body parameters, and obstacle parameters, including:

[0126] Determine a first position parameter of the steering center according to the wheel angle and the vehicle body parameter;

[0127] Determining a first distance between the steering center and the steering inner side of the vehicle body according to the first position parameter;

[0128] Acquire a second position parameter of the terminal vertex of the turning inner obstacle, and determine a second distance between the turning center and the terminal vertex of the turning inner obstacle according to the first position parameter and the second position parameter;

[0129] Based on the comparison between the first distance and the second distance, it is determined whether a scratch will occur.

[0130] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0131] Before executing the obstacle avoidance command, it also includes:

[0132] Obtain a third distance of the end vertex of the obstacle on the inner side of the turn relative to the center line of the front axle;

[0133] When the third distance is greater than zero, an obstacle avoidance instruction is executed.

[0134] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0135] After executing the obstacle avoidance command, it also includes:

[0136] Obtaining a distance difference according to the first distance and the second distance;

[0137] In response to executing the obstacle avoidance instruction, updating the distance difference;

[0138] When the distance difference is greater than or equal to the safety distance threshold, the obstacle avoidance instruction is stopped.

[0139] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0140] Before obtaining the distance difference, it also includes:

[0141] Obtain the third position parameter of the end vertex of the obstacle turned to the outside;

[0142] Determining a fourth distance between the obstacle turned outward and the vehicle body turned outward according to the third position parameter;

[0143] A safety distance threshold is determined according to the fourth distance.

[0144] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0145] Determining a safety distance threshold according to the fourth distance includes:

[0146] When the fourth distance is greater than zero and less than the vehicle width, determining the safety distance threshold according to a preset ratio of the fourth distance;

[0147] When the fourth distance is greater than or equal to the vehicle width, the safety distance threshold is determined according to a fixed threshold.

[0148] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0149] Get the second position parameter of the end vertex of the obstacle turned to the inside, including:

[0150] Acquire detection data of the turning inner obstacle, the detection data including position parameters of each point of the turning inner obstacle;

[0151] Determine a fifth distance of each point on the obstacle on the inner side of the turn relative to the turn center based on the radar detection data and the first position parameter of the turn center;

[0152] The point with the largest fifth distance is determined as the terminal vertex of the obstacle turned inside.

[0153] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0154] Obtaining a control parameter, a body parameter, and an obstacle parameter of the vehicle steering, wherein the control parameter includes a wheel angle of the vehicle, the body parameter includes a wheelbase, and the obstacle parameter includes a position parameter of an obstacle on the inner side of the steering wheel;

[0155] Determine whether a scratch will occur based on control parameters, vehicle body parameters and obstacle parameters;

[0156] When it is determined that a scratch will occur, an obstacle avoidance command is executed, including controlling the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel.

[0157] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0158] Determine whether a scratch will occur based on control parameters, vehicle body parameters, and obstacle parameters, including:

[0159] Determine a first position parameter of the steering center according to the wheel angle and the vehicle body parameter;

[0160] Determining a first distance between the steering center and the steering inner side of the vehicle body according to the first position parameter;

[0161] Acquire a second position parameter of the terminal vertex of the turning inner obstacle, and determine a second distance between the turning center and the terminal vertex of the turning inner obstacle according to the first position parameter and the second position parameter;

[0162] Based on the comparison between the first distance and the second distance, it is determined whether a scratch will occur.

[0163] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0164] Before executing the obstacle avoidance command, it also includes:

[0165] Obtain a third distance of the end vertex of the obstacle on the inner side of the turn relative to the center line of the front axle;

[0166] When the third distance is greater than zero, an obstacle avoidance instruction is executed.

[0167] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0168] After executing the obstacle avoidance command, it also includes:

[0169] Obtaining a distance difference according to the first distance and the second distance;

[0170] In response to executing the obstacle avoidance instruction, updating the distance difference;

[0171] When the distance difference is greater than or equal to the safety distance threshold, the obstacle avoidance instruction is stopped.

[0172] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0173] Before obtaining the distance difference, it also includes:

[0174] Obtain the third position parameter of the end vertex of the obstacle turned to the outside;

[0175] Determining a fourth distance between the obstacle turned outward and the vehicle body turned outward according to the third position parameter;

[0176] A safety distance threshold is determined according to the fourth distance.

[0177] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0178] Determining a safety distance threshold according to the fourth distance includes:

[0179] When the fourth distance is greater than zero and less than the vehicle width, determining the safety distance threshold according to a preset ratio of the fourth distance;

[0180] When the fourth distance is greater than or equal to the vehicle width, the safety distance threshold is determined according to a fixed threshold.

[0181] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0182] Get the second position parameter of the end vertex of the obstacle turned to the inside, including:

[0183] Acquire detection data of the turning inner obstacle, the detection data including position parameters of each point of the turning inner obstacle;

[0184] Determine a fifth distance of each point on the obstacle on the inner side of the turn relative to the turn center based on the radar detection data and the first position parameter of the turn center;

[0185] The point with the largest fifth distance is determined as the terminal vertex of the obstacle turned inside.

[0186] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0187] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above-mentioned embodiments only express several implementation methods of the present application, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, several deformations and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of this application shall be based on the attached claims.

Claims

1. A steering obstacle avoidance control method, characterized in that: include: Acquire a control parameter, a body parameter, and an obstacle parameter of the vehicle steering, wherein the control parameter includes a wheel angle of the vehicle, the body parameter includes a wheelbase, and the obstacle parameter includes a position parameter of an obstacle on the inner side of the steering wheel; Determining whether a scratch will occur according to the control parameters, vehicle body parameters and obstacle parameters; When it is determined that a scratch will occur, an obstacle avoidance command is executed, including controlling the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel.

2. The steering obstacle avoidance control method according to claim 1, characterized in that: The determining whether a scratch will occur according to the control parameter, the vehicle body parameter and the obstacle parameter includes: Determine a first position parameter of a steering center according to the wheel angle and the vehicle body parameter; Determining a first distance between a steering center and a steering inner side of the vehicle body according to the first position parameter; Acquire a second position parameter of the terminal vertex of the turning inner obstacle, and determine a second distance between the turning center and the terminal vertex of the turning inner obstacle according to the first position parameter and the second position parameter; Based on the comparison between the first distance and the second distance, it is determined whether a scratch will occur.

3. The steering obstacle avoidance control method according to claim 1, characterized in that: Before executing the obstacle avoidance instruction, the method further includes: Obtain a third distance of the end vertex of the obstacle on the inner side of the turn relative to the center line of the front axle; When the third distance is greater than zero, an obstacle avoidance instruction is executed.

4. The steering obstacle avoidance control method according to claim 2, characterized in that: After executing the obstacle avoidance instruction, the method further includes: Obtaining a distance difference according to the first distance and the second distance; In response to executing the obstacle avoidance instruction, updating the distance difference; When the distance difference is greater than or equal to the safety distance threshold, the obstacle avoidance instruction is stopped.

5. The steering obstacle avoidance control method according to claim 4, characterized in that: Before obtaining the distance difference, the method further includes: Obtain the third position parameter of the end vertex of the obstacle turned to the outside; Determining a fourth distance between the obstacle turned outward and the vehicle body turned outward according to the third position parameter; The safety distance threshold is determined according to the fourth distance.

6. The steering obstacle avoidance control method according to claim 5, characterized in that: The determining the safety distance threshold according to the fourth distance includes: When the fourth distance is greater than zero and less than the vehicle width, determining the safety distance threshold according to a preset ratio of the fourth distance; When the fourth distance is greater than or equal to the vehicle width, the safety distance threshold is determined according to a fixed threshold.

7. The steering obstacle avoidance control method according to claim 2, characterized in that: The step of obtaining the second position parameter of the terminal vertex of the obstacle turned to the inner side includes: Acquire detection data of the turning inner obstacle, wherein the detection data includes position parameters of each point of the turning inner obstacle; Determine a fifth distance of each point on the obstacle on the inner side of the turning relative to the turning center based on the detection data and the first position parameter of the turning center; The point with the largest fifth distance is determined to be the terminal vertex of the obstacle turned inside.

8. A steering obstacle avoidance control device, characterized in that: The device comprises: An acquisition module, used to acquire a control parameter, a body parameter and an obstacle parameter of the vehicle steering, wherein the control parameter includes a wheel angle of the vehicle, the body parameter includes a wheelbase, and the obstacle parameter includes a position parameter of an obstacle on the inner side of the steering wheel; A risk identification module, used to determine whether a scratch will occur based on the control parameters, vehicle body parameters and obstacle parameters; The obstacle avoidance execution module is used to execute obstacle avoidance instructions when it is determined that a scratch will occur, including controlling the steering inner front wheel to perform single-wheel braking and the steering inner rear wheel to perform intermittent braking, so that the vehicle rotates around the steering inner front wheel.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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