Vehicle collision avoidance control methods, devices, equipment, media and procedures

Abstract

This invention relates to a vehicle collision avoidance control method, apparatus, device, medium, and program product. The method includes: acquiring motion information of the vehicle and surrounding target objects to determine the collision location; determining multiple collision avoidance trajectories based on the collision location and the vehicle's maximum lateral avoidance distance; and establishing a cost function based on offset parameters, the maximum lateral avoidance distance, and the lateral acceleration of the vehicle traveling according to the collision avoidance trajectory. A suitable collision avoidance trajectory can be selected to control the vehicle to achieve collision avoidance. The collision avoidance trajectory selected by the cost function established by this invention can balance the safety of the collision avoidance endpoint with the changes in the vehicle's lateral acceleration during the collision avoidance process, thereby improving vehicle stability while ensuring collision avoidance safety, and thus enhancing the overall safety of vehicle collision avoidance.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and specifically to a vehicle collision avoidance control method, device, equipment, medium, and program product. Background Technology

[0002] With the development of the automotive industry, automotive driver assistance functions are becoming increasingly powerful. When there is a risk of collision between the vehicle and pedestrians or other vehicles, driver assistance can use control methods such as emergency braking or steering to avoid a collision, thus achieving collision avoidance.

[0003] Currently, vehicle steering and collision avoidance control strategies are relatively simple, mostly based on the driver's steering intention and hand torque. To achieve safe avoidance, the driver still needs to intervene and control the vehicle. If the driver operates improperly, it may lead to failure to avoid collision or the vehicle overturning. Safety needs to be improved. Summary of the Invention

[0004] One of the objectives of this invention is to provide a vehicle collision avoidance control method, device, equipment, medium, and program product to solve the problem of insufficient safety in the vehicle collision avoidance process.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A vehicle collision avoidance control method includes:

[0007] Obtain the first motion information of the current vehicle and the second motion information of the target objects around the current vehicle.

[0008] The collision location is determined based on the first motion information and the second motion information;

[0009] Based on the collision location and the preset maximum lateral avoidance distance, multiple collision avoidance endpoints and the collision avoidance trajectory corresponding to each collision avoidance endpoint are determined;

[0010] A cost function is established based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration corresponding to the collision avoidance trajectory. A target collision avoidance trajectory that satisfies the preset conditions is selected to control the current vehicle to avoid collisions. The offset parameter represents the lateral offset of the current vehicle corresponding to the collision avoidance endpoint.

[0011] Furthermore, multiple collision avoidance endpoints are determined based on the collision location and the preset maximum lateral avoidance distance, including:

[0012] The lateral overlap at the collision location is determined based on the boundary of the current vehicle and the boundary of the target object.

[0013] The minimum offset is determined based on the collision location and the lateral overlap.

[0014] The maximum offset is determined based on the minimum offset and the maximum lateral avoidance distance;

[0015] The collision position is offset based on the minimum offset and the maximum offset to obtain multiple collision avoidance endpoints.

[0016] Furthermore, a cost function is established based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration corresponding to the collision avoidance trajectory, including:

[0017] The collision time is determined based on the first motion information and the collision location;

[0018] Calculate the lateral uniform acceleration corresponding to the collision avoidance trajectory based on the collision time and the collision avoidance endpoint;

[0019] A collision avoidance trajectory with a lateral uniform acceleration less than a preset acceleration threshold is selected for longitudinal sampling, and the lateral instantaneous acceleration of the collision avoidance trajectory is determined based on the sampling results.

[0020] A cost function is established based on the offset parameter, the maximum lateral avoidance distance, and the lateral instantaneous acceleration.

[0021] Furthermore, a target collision avoidance trajectory is selected that satisfies a preset condition for the value of the cost function, including:

[0022] Iterate through the cost function values ​​corresponding to each collision avoidance trajectory, and select the collision avoidance trajectory with the minimum value as the target collision avoidance trajectory.

[0023] Furthermore, the value of the cost function is obtained in the following way:

[0024] For any collision avoidance trajectory with a lateral uniform acceleration less than a preset acceleration threshold, a number of sampling points are selected in the collision avoidance trajectory according to a preset longitudinal sampling step size;

[0025] The cumulative cost value of the transverse instantaneous acceleration corresponding to the selected sampling point is calculated as the value of the cost function.

[0026] Furthermore, the cost function corresponding to the collision avoidance trajectory where the sampling point is located is set to a preset target value.

[0027] A vehicle collision avoidance control device, comprising:

[0028] The acquisition module is used to acquire the first motion information of the current vehicle and the second motion information of the target objects around the current vehicle;

[0029] A collision determination module is used to determine the collision location based on the first motion information and the second motion information;

[0030] The trajectory determination module is used to determine multiple collision avoidance endpoints and the collision avoidance trajectory corresponding to each collision avoidance endpoint based on the collision location and the preset maximum lateral avoidance distance.

[0031] The collision avoidance processing module is used to establish a cost function based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration corresponding to the collision avoidance trajectory, and select a target collision avoidance trajectory that makes the value of the cost function satisfy a preset condition to control the current vehicle to avoid collisions. The offset parameter represents the lateral offset of the current vehicle corresponding to the collision avoidance endpoint.

[0032] An electronic device includes: a processor, and a memory communicatively connected to the processor;

[0033] The memory stores computer-executed instructions;

[0034] The processor executes computer execution instructions stored in the memory to implement the vehicle collision avoidance control method as described above.

[0035] A computer-readable storage medium includes: computer-executable instructions stored in the computer-readable storage medium, which, when executed by a processor, are used to implement the vehicle collision avoidance control method as described in any of the preceding claims.

[0036] A computer program product includes a computer program that, when executed by a processor, implements the vehicle collision avoidance control method as described in any of the above.

[0037] The beneficial effects of this invention are as follows: by establishing a cost function related to the collision avoidance endpoint and lateral acceleration to select the collision avoidance trajectory, the safety of the collision avoidance endpoint and the change in lateral acceleration of the vehicle during the collision avoidance process can be taken into account. This allows the vehicle to improve its stability while ensuring collision avoidance safety, thereby improving the overall safety of the vehicle in collision avoidance. Attached Figure Description

[0038] Figure 1 A schematic flowchart of a vehicle collision avoidance control method provided for an exemplary embodiment of the present invention;

[0039] Figure 2 A collision avoidance scenario diagram provided for an exemplary embodiment of the present invention;

[0040] Figure 3 A flowchart illustrating the establishment of a cost function is provided for an exemplary embodiment of the present invention;

[0041] Figure 4 A schematic diagram of a process for obtaining cost function values ​​is provided as an exemplary embodiment of the present invention;

[0042] Figure 5A schematic diagram of a vehicle collision avoidance control device provided for an exemplary embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the structure of an electronic device provided as an exemplary embodiment of the present invention.

[0044] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0045] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0046] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0048] The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, product, or apparatus. Without further limitation, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded. For example, the use of terms such as "first," "second," etc., is to denote names and does not indicate any particular order.

[0049] The Autonomic Emergency Brake (AEB) system receives information such as the distance and speed of vehicles, pedestrians, or obstacles ahead from sensors like radar and cameras, and assesses whether there is a risk of collision between the vehicle and the target under different relative speeds and positions. When a collision risk exists, AEB automatically sends an audible warning to the driver. Then, if the target is less than a safe distance away and the driver fails to brake in time, AEB automatically triggers deceleration and requests the vehicle's brake controller to reduce speed as much as possible to avoid a collision. However, when the vehicle is traveling at high speed, if a target suddenly appears ahead and the longitudinal distance between the vehicle and the target is significantly less than the latest AEB trigger distance, AEB generally struggles to bring the vehicle to a stop and avoid a collision.

[0050] Therefore, if a vehicle cannot avoid a collision through emergency braking, and the driving space in the adjacent area of ​​the collision path meets the turning requirements, the vehicle can steer to avoid the target ahead, ensuring driving safety. However, the inventors have found that current vehicle steering avoidance processes require obtaining the driver's steering intention and the hand torque applied to the steering wheel to make collision avoidance decisions. The planning effect of the collision avoidance trajectory is not good. When the end point of the collision avoidance trajectory is too close to the target, it may still cause scraping or other situations. When the end point of the collision avoidance trajectory is too far from the target, it will cause excessive changes in the vehicle's lateral acceleration, leading to vehicle instability. How to plan a safer collision avoidance trajectory is a major problem that has not yet been solved.

[0051] The inventors thus conceived of determining multiple collision avoidance trajectories based on the vehicle's maximum allowable avoidance distance and the actual possible collision locations. They then established a cost function based on the acceleration of the collision avoidance trajectory and the lateral offset at the trajectory's endpoint. This cost function was used to determine a safer collision avoidance trajectory, taking into account both the safety of the collision avoidance endpoint and the vehicle's lateral acceleration changes during the collision avoidance process. This improved vehicle stability while ensuring collision avoidance safety, thereby enhancing the overall collision avoidance safety of the vehicle.

[0052] Figure 1 This is a schematic flowchart illustrating a vehicle collision avoidance control method provided by an exemplary embodiment of the present invention. Figure 1 As shown, the method may include:

[0053] Step S101: Obtain the first motion information of the current vehicle and the second motion information of the target objects around the current vehicle.

[0054] The first motion information may include the current vehicle's position, speed, heading angle, and bounding box coordinates, with the bounding box representing the vehicle's outline. The target object can be an obstacle encountered by the vehicle on its path, such as a pedestrian or other vehicle ahead of the vehicle on the road. The second motion information may include the target object's position, speed, heading angle, and bounding box coordinates.

[0055] Specifically, information such as the vehicle's speed and position can be collected using devices such as the vehicle's speed sensor, and information such as the speed and position of target objects such as vehicles ahead can be collected using devices such as cameras and radar. It should be noted that the positions of both the current vehicle and the target object can be represented as coordinates in a reference frame established based on the current vehicle.

[0056] For example, a coordinate system can be established in the horizontal plane based on the current vehicle as the origin, the direction parallel to the center of the rear axle of the current vehicle as the horizontal axis, and the direction perpendicular to the horizontal axis in the horizontal plane as the vertical axis. The position of the current vehicle and the position of the target object can then be represented as coordinates in this coordinate system.

[0057] Step S102: Determine the collision location based on the first motion information and the second motion information.

[0058] For example, based on the motion information of the current vehicle and the motion information of the target object, trajectory algorithms such as third-order Bézier curves can be combined to predict the current vehicle's trajectory from T0 to T1. n The trajectory of the movement within a second; the target T0 to T1 is calculated with a step size of Δt. n Motion information such as position, velocity, heading angle, and bounding box coordinates within a time interval of seconds, with a step size of Δt, from T0 to T... n-1 Perform a traversal and calculate the current vehicle's position at each sampling time point T. i The system collects motion information such as position, velocity, heading angle, and bounding box coordinates; it also iterates through the current vehicle and the target object ahead, each corresponding to a time point T. i Motion information at any given moment is used to calculate the earliest time T when the current vehicle's bounding box collides with the target object's bounding box using a collision detection algorithm. c and using T c The coordinates (y) of the collision corner of the vehicle at that moment can be retrieved. c x c The collision location is defined as T0, where T0 represents the current time and T represents the collision location. n It can be any preset value, y c and x c These represent the horizontal and vertical coordinates of the collision location in the coordinate system, respectively.

[0059] Step S103: Determine multiple collision avoidance endpoints and the collision avoidance trajectory corresponding to each collision avoidance endpoint based on the collision location and the preset maximum lateral avoidance distance.

[0060] The maximum lateral avoidance distance can be the maximum avoidance distance allowed by the current vehicle's system performance in the lateral direction.

[0061] Specifically, in order to ensure vehicle stability while achieving collision avoidance, the range of lateral offset required for collision avoidance can be calculated based on two approaches: achieving collision avoidance with the minimum offset and achieving collision avoidance with the maximum lateral avoidance distance defined by the vehicle system. The collision avoidance endpoint can then be determined accordingly.

[0062] For example, refer to Figure 2 As shown, firstly, the time (T) at the time of the collision can be calculated based on the collision location. c (Moment) The lateral overlap y between the current vehicle bounding box and the bounding box of the target object in front. cover We can set the collision avoidance endpoint coordinates as (y end x end The longitudinal coordinate of the collision avoidance endpoint can remain unchanged from the longitudinal coordinate of the collision point, i.e., x end =x c .

[0063] If the approach is to achieve collision avoidance with the minimum offset, such as... Figure 2 As shown, y can be set end =y c +|y cover |, to achieve collision avoidance. Optionally, considering potential deviations in the vehicle's lateral distance measurement using the perception system, y can be set end =y c +|y cover |+y safe , where y safe This is a calibrable lateral safety margin. By setting this lateral safety margin, collision avoidance can be achieved even when the perception system's lateral distance to the target is too small.

[0064] If the collision avoidance is achieved based on the maximum lateral avoidance distance defined by the vehicle system, then the longitudinal coordinate y of the collision avoidance endpoint can be set. end =y c +|y cover |+y MAX To achieve collision avoidance. Among them, y MAX This is the maximum lateral avoidance distance allowed by the system.

[0065] Alternatively, considering the two approaches mentioned above, let the longitudinal coordinate x of the collision avoidance endpoint be... end =x c and the horizontal coordinate y endThe value range is set to [y c +|y cover |+y safe ,y c +|y cover |+y MAX By selecting the horizontal coordinate within this range, multiple collision avoidance endpoints can be obtained. After obtaining the collision avoidance endpoints, the collision avoidance trajectory corresponding to the endpoints can be generated using a collision avoidance algorithm.

[0066] Step S104: Establish a cost function based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration corresponding to the collision avoidance trajectory, and select a target collision avoidance trajectory that satisfies the preset conditions to control the current vehicle to avoid collisions.

[0067] The offset parameter represents the lateral offset of the current vehicle relative to the collision avoidance endpoint.

[0068] Specifically, the current vehicle performs collision avoidance from time T0 until time T... c During the collision avoidance process, the lateral coordinates of the collision avoidance endpoint represent the lateral offset of the vehicle during the avoidance process. A cost function can be established using this lateral offset, the maximum lateral avoidance distance, the maximum lateral acceleration, and the vehicle's lateral acceleration during the avoidance process. This cost function can be used to solve for the collision avoidance result and stability. By setting constraints on the cost function, a more stable avoidance trajectory can be selected, and the vehicle can be controlled to avoid a collision based on the selected trajectory.

[0069] In the above embodiments, the collision location can be determined by acquiring the motion information of the vehicle and surrounding target objects. Multiple collision avoidance trajectories can be determined based on the collision location and the vehicle's maximum lateral avoidance distance. Then, a cost function is established based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration of the vehicle traveling according to the collision avoidance trajectory. A suitable collision avoidance trajectory can be selected to control the vehicle to achieve collision avoidance. The collision avoidance trajectory selected by the cost function established by the method of this invention can take into account both the safety of the collision avoidance endpoint and the change in lateral acceleration of the vehicle during the collision avoidance process. This allows the vehicle to improve its stability while ensuring collision avoidance safety, thereby improving the overall safety of vehicle collision avoidance.

[0070] In one embodiment, multiple collision avoidance endpoints are determined based on the collision location and a preset maximum lateral avoidance distance, including:

[0071] The minimum offset is determined based on the collision location and the lateral overlap; the maximum offset is determined based on the minimum offset and the maximum lateral avoidance distance; the collision location is offset based on the minimum offset and the maximum offset to obtain multiple collision avoidance endpoints.

[0072] For example, refer to Figure 2 The minimum offset can be the vertical coordinate value y of the collision point. c Horizontal overlap y cover The sum of absolute values ​​of the values, the maximum offset can be the sum of the minimum offset and the maximum avoidance distance. The range between the minimum and maximum offsets is the range of lateral offsets that the vehicle needs to consider when avoiding a collision. By taking a value within this range and making a lateral offset based on the collision position, the corresponding collision avoidance endpoint can be obtained. Multiple values ​​can be taken, and correspondingly, multiple collision avoidance endpoints can be obtained.

[0073] In one embodiment, such as Figure 3 As shown, a cost function is established based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration corresponding to the collision avoidance trajectory, including:

[0074] Step S301: Determine the collision time based on the first motion information and the collision position.

[0075] Specifically, the first motion information may include the current vehicle speed, and based on the collision location of the current vehicle on its trajectory, the time required for the current vehicle to reach that location can be predicted in combination with the speed.

[0076] Step S302: Calculate the lateral uniform acceleration corresponding to the collision avoidance trajectory based on the collision time and the collision avoidance endpoint.

[0077] To ensure the stability of the vehicle during collision avoidance steering, it is necessary to calculate the lateral acceleration 'a' of the vehicle during the steering process. safe a safe This can be defined as the maximum permissible lateral acceleration to maintain vehicle stability at different speed ranges. To meet steering stability requirements, it can be assumed that the vehicle steers using both uniform and variable lateral acceleration methods, and this is achieved by increasing the vehicle's uniform acceleration 'a'. avg and the changing instantaneous acceleration a t All less than a safe The strategy ensures the stability of the vehicle during cornering. The inventors discovered that when the instantaneous acceleration a... t safe When, a must satisfy avg safe Therefore, the total lateral displacement of the vehicle during the collision avoidance process can be determined first based on the lateral coordinate value of the collision avoidance endpoint. The ratio of this total displacement to the collision event can then be calculated to obtain the lateral uniform acceleration of the vehicle.

[0078] Step S303: Select collision avoidance trajectories with lateral uniform acceleration less than a preset acceleration threshold for longitudinal sampling, and determine the lateral instantaneous acceleration of the collision avoidance trajectory based on the sampling results.

[0079] ​​​The acceleration threshold can be defined as the maximum lateral acceleration 'a' allowed to maintain vehicle stability at different speed ranges. safe .

[0080] Specifically, the binary search method can be used to search for the acceleration 'a'. avg safe The corresponding y end The value range is set N, and then the horizontal sampling interval Δy is set. sample Divide set N into equal parts to obtain the set that satisfies a avg safe Lateral coordinates of the collision avoidance endpoint After obtaining the set Then, the vertical sampling step size Δx can be set. sample For sets For any horizontal coordinate corresponding to the collision avoidance trajectory, the longitudinal sampling step size is used to sample multiple sampling points, and the lateral acceleration at adjacent longitudinal sampling points on the collision avoidance trajectory is approximated as the instantaneous lateral acceleration. For example, for a collision avoidance trajectory based on the set... Given a collision avoidance trajectory with two adjacent longitudinal sampling points A and B, the difference between the lateral travel speeds corresponding to sampling points A and B is calculated, along with the time required for the vehicle to travel from sampling point A to sampling point B along the collision avoidance trajectory. The ratio of this difference to the time is then approximated as a lateral instantaneous acceleration within the trajectory.

[0081] Step S304: Establish a cost function based on the offset parameter, the maximum lateral avoidance distance, and the lateral instantaneous acceleration.

[0082] For example, the cost function can be expressed as follows:

[0083]

[0084] The cost function can be expressed by the formula characterizing the offset safety. With the formula characterizing vehicle stability Weighted composition. In the cost function, |a safe | represents the maximum permissible vehicle acceleration during an emergency turn, as required by functional safety standards. It characterizes the vehicle's stability during an emergency turn. If the vehicle's lateral acceleration a y The closer the absolute value of (i) is to |a safe The higher the value of |, the lower the vehicle's stability. K is the weighting coefficient of the cost function towards safety and stability. In this example, K can be set to 0.7, which gives more weight to the vehicle's ability to avoid collisions while considering its emergency steering stability. end (i) is based on a preset step size, from [y c +|y cover ​​|+y safe ,y c +|y cover |+y MAX The lateral coordinates of each collision avoidance endpoint selected in the [image] are used as the step size, which can be the aforementioned lateral sampling interval Δy. sample The step length can be taken as 0.2 meters. y (i) is based on y end (i) represents the lateral acceleration of the vehicle at the lateral coordinate of the collision avoidance endpoint, a y (i) The calculation can be expressed as the following formula (1):

[0085] a y (i)=2×(y end (i)-v y (i)×T c (i)) / T c (i) 2 (1)

[0086] Where T c (i) is based on y end (i) is the predicted time when the vehicle collides with the vehicle in front at the lateral collision avoidance endpoint. This cost function can be used to solve the collision avoidance result and collision avoidance stability during the vehicle collision avoidance process. By selecting the minimum cost function value calculated at each collision avoidance endpoint, the optimal collision avoidance trajectory that is both safe and stable is selected, thereby controlling the current vehicle to achieve collision avoidance.

[0087] In one embodiment, selecting a target collision avoidance trajectory that satisfies a preset condition for the value of the cost function includes:

[0088] Iterate through the cost function values ​​corresponding to each collision avoidance trajectory, and select the collision avoidance trajectory with the minimum value as the target collision avoidance trajectory.

[0089] Specifically, the above steps can be used to obtain a... avg safe For each collision avoidance endpoint, the value of the cost function can be calculated for the corresponding collision avoidance trajectory, and the collision avoidance trajectory that minimizes the value of the cost function can be selected as the target collision avoidance trajectory.

[0090] In one embodiment, such as Figure 4 As shown, the value of the cost function is obtained in the following way:

[0091] Step S401: For any collision avoidance trajectory with a lateral uniform acceleration less than a preset acceleration threshold, select several sampling points in the collision avoidance trajectory according to a preset longitudinal sampling step size.

[0092] Step S402: Calculate the cumulative cost value of the transverse instantaneous acceleration corresponding to the selected sampling point as the value of the cost function. ​

[0093] Specifically, after obtaining a avg safe Lateral coordinates of the collision avoidance endpoint Then, the polynomial in the following formula (2) can be used, starting from (y0,x0) and starting from (y0,x0). end_n Fitting is performed with x0 as the endpoint.

[0094] y(x) = c0 + c1(x - x0) + c2(x - x0) 2 +c3(x-x3) 3 +c4(x-x4) 4 +c5(x-x5) 5 (2)

[0095] In the above formula, y(x) represents the longitudinal coordinate of the current vehicle on the trajectory, x represents the lateral coordinate of the vehicle on the trajectory, and c0 to c5 are polynomial coefficients. x0 is the longitudinal coordinate of the current vehicle at the current time T0, and its value can be set to 0.

[0096] After the vehicle completes the collision avoidance trajectory, the vehicle body system can control the vehicle body to return to the correct position. The lateral velocity, lateral acceleration and heading angle at the end of the collision avoidance trajectory can be set to 0. Based on this, the following formula (3) can be obtained.

[0097]

[0098] According to formula (2), at the starting point (y0, x0) of the collision avoidance trajectory, c0~c2 are related to the lateral position y0, slope tan(θ0), and lateral velocity v of the starting point of the trajectory. 0_lat and lateral acceleration a 0_lat The following formula (4) exists:

[0099]

[0100] If we take the current vehicle as the origin of the coordinate system, the current vehicle's heading direction as the vertical axis, and the direction parallel to the rear axle as the horizontal axis, then at (y0, x0), the heading angle θ0 ≈ 0. When θ0 is small, tan(θ0) ≈ θ0, therefore... This can be approximated as the curvature at this point, thus yielding the following formula (5).

[0101]

[0102] in, It can be obtained through differential approximation calculation, and formula (4) can be transformed into the following formula (6).

[0103]

[0104] ​Based on the above formula, the polynomial coefficients in formula (2) can be expressed as the following formula (7).

[0105]

[0106] Optionally, based on the above formula, for each condition satisfying a avg safe The collision avoidance trajectory, in the form of a fifth-order polynomial, is sampled longitudinally. For each trajectory, the lateral acceleration at adjacent longitudinal sampling points is approximated as equivalent to instantaneous acceleration. Starting from the collision avoidance endpoint, the cumulative instantaneous acceleration cost along each trajectory is calculated, thus obtaining the acceleration cost generated by that trajectory during the collision avoidance process at the starting point of each trajectory. The sum of possible lateral acceleration costs generated by each trajectory during the collision avoidance process is iterated, and the trajectory with the minimum cost is selected as the final target collision avoidance trajectory.

[0107] In one embodiment, the vehicle collision avoidance control method may further include:

[0108] If the instantaneous lateral acceleration corresponding to the sampling point is greater than or equal to the acceleration threshold, the value of the cost function corresponding to the collision avoidance trajectory where the sampling point is located is set to the preset target value.

[0109] For example, after longitudinal sampling of the collision avoidance trajectory, if the instantaneous lateral acceleration 'a' corresponding to adjacent sampling points in the trajectory... t Greater than or equal to a safe The acceleration cost of this trajectory can be set to infinity.

[0110] To ensure vehicle stability during collision avoidance, the instantaneous lateral acceleration 'a' of the vehicle is... t It should be less than a safe If the instantaneous lateral acceleration obtained after longitudinal sampling of a collision avoidance trajectory is greater than or equal to that value, the cost of the collision avoidance trajectory can be set to infinity. In this way, the collision avoidance trajectory can be discarded directly, reducing the amount of computation and improving the efficiency of collision avoidance decision-making.

[0111] Figure 5 This is a schematic diagram of a vehicle collision avoidance control device provided as an exemplary embodiment of the present invention. Figure 5 As shown, the vehicle collision avoidance control device 500 may include:

[0112] The acquisition module 501 is used to acquire the first motion information of the current vehicle and the second motion information of the target objects around the current vehicle.

[0113] The collision determination module 502 is used to determine the collision position based on the first motion information and the second motion information.

[0114] ​The trajectory determination module 503 is used to determine multiple collision avoidance endpoints and the collision avoidance trajectory corresponding to each collision avoidance endpoint based on the collision position and the preset maximum lateral avoidance distance.

[0115] The collision avoidance processing module 504 is used to establish a cost function based on the offset parameter, the maximum lateral avoidance distance and the lateral acceleration corresponding to the collision avoidance trajectory, and select a target collision avoidance trajectory that makes the value of the cost function satisfy a preset condition to control the current vehicle to avoid collisions. The offset parameter represents the lateral offset of the current vehicle corresponding to the collision avoidance endpoint.

[0116] In one embodiment, the trajectory determination module 503 may include:

[0117] The overlap determination unit can be used to determine the amount of lateral overlap at the collision location based on the boundary of the current vehicle and the boundary of the target object.

[0118] The minimum offset unit can be used to determine the minimum offset based on the collision position and the lateral overlap.

[0119] The maximum offset unit can be used to determine the maximum offset based on the minimum offset and the maximum lateral avoidance distance.

[0120] The endpoint determination unit can be used to offset the collision position according to the minimum offset and the maximum offset to obtain multiple collision avoidance endpoints.

[0121] In one embodiment, the collision avoidance module 504 may include:

[0122] The time processing unit can be used to determine the collision time based on the first motion information and the collision position.

[0123] The uniform acceleration unit can be used to calculate the lateral uniform acceleration corresponding to the collision avoidance trajectory based on the collision time and the collision avoidance endpoint.

[0124] The instantaneous acceleration unit can be used to select collision avoidance trajectories with lateral uniform acceleration less than a preset acceleration threshold for longitudinal sampling, and determine the lateral instantaneous acceleration of the collision avoidance trajectory based on the sampling results.

[0125] The function establishment unit can be used to establish a cost function based on the offset parameter, the maximum lateral avoidance distance, and the lateral instantaneous acceleration.

[0126] In one embodiment, the collision avoidance processing module 504 is further configured to: traverse the values ​​of the cost functions corresponding to each collision avoidance trajectory, and select the collision avoidance trajectory corresponding to the minimum value as the target collision avoidance trajectory.

[0127] In one embodiment, the vehicle collision avoidance control device 600 may further include:

[0128] The longitudinal sampling module can be used to select a number of sampling points in the collision avoidance trajectory according to a preset longitudinal sampling step size for any collision avoidance trajectory with a lateral uniform acceleration less than a preset acceleration threshold.

[0129] The cost calculation module can be used to calculate the cumulative cost value of the transverse instantaneous acceleration corresponding to the selected sampling point as the value of the cost function.

[0130] In one embodiment, the vehicle collision avoidance control device 600 may further include:

[0131] The target setting module can be used to set the value of the cost function corresponding to the collision avoidance trajectory where the sampling point is located to a preset target value when the lateral instantaneous acceleration corresponding to the sampling point is greater than or equal to the acceleration threshold.

[0132] The vehicle collision avoidance control device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0133] It should be understood that the above-described device embodiments are merely illustrative, and the device of the present invention can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0134] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of the present invention can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0135] Figure 6 This is a schematic diagram of the structure of an electronic device provided as an exemplary embodiment of the present invention. For example... Figure 6 As shown, the electronic device 60 includes:

[0136] Processor 61, memory 62, and communication interface 63;

[0137] The memory 62 is used to store the executable instructions of the processor 61; the executable instructions may be computer-executable instructions.

[0138] The processor 61 is configured to execute the technical solutions in any of the foregoing method embodiments by executing the executable instructions.

[0139] Optionally, the memory 62 can be either standalone or integrated with the processor 61.

[0140] Optionally, when the memory 62 is a device independent of the processor 61, the electronic device 60 may further include:

[0141] Bus 64, memory 62 and communication interface 63 are connected to processor 61 through bus 64 and complete communication with each other. Communication interface 63 is used to communicate with other devices.

[0142] Optionally, the communication interface 63 can be implemented using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., clients, read-write databases, and read-only databases). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive.

[0143] Bus 64 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, only one line is used in the diagram, but this does not imply that there is only one bus or one type of bus.

[0144] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0145] The electronic device is used to execute the technical solutions in any of the foregoing method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0146] This invention also provides a readable storage medium, which can be a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the technical solution provided in any of the foregoing method embodiments.

[0147] This invention also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the technical solutions provided in any of the foregoing method embodiments.

[0148] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0149] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0150] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0151] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A vehicle collision avoidance control method, characterized in that, include: Acquire the first motion information of the current vehicle and the second motion information of the target objects surrounding the current vehicle; The collision location is determined based on the first motion information and the second motion information; Based on the collision location and the preset maximum lateral avoidance distance, multiple collision avoidance endpoints and the collision avoidance trajectory corresponding to each collision avoidance endpoint are determined; A cost function is established based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration corresponding to the collision avoidance trajectory. A target collision avoidance trajectory that satisfies the preset conditions is selected to control the current vehicle to avoid collisions. The offset parameter represents the lateral offset of the current vehicle corresponding to the collision avoidance endpoint. The cost function established based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration corresponding to the collision avoidance trajectory includes: The collision time is determined based on the first motion information and the collision location; Calculate the lateral uniform acceleration corresponding to the collision avoidance trajectory based on the collision time and the collision avoidance endpoint; A collision avoidance trajectory with a lateral uniform acceleration less than a preset acceleration threshold is selected for longitudinal sampling, and the lateral instantaneous acceleration of the collision avoidance trajectory is determined based on the sampling results. A cost function is established based on the offset parameter, the maximum lateral avoidance distance, and the lateral instantaneous acceleration.

2. The vehicle collision avoidance control method according to claim 1, characterized in that, The determination of multiple collision avoidance endpoints based on the collision location and a preset maximum lateral avoidance distance includes: The lateral overlap at the collision location is determined based on the boundary of the current vehicle and the boundary of the target object. The minimum offset is determined based on the collision location and the lateral overlap. The maximum offset is determined based on the minimum offset and the maximum lateral avoidance distance; The collision position is offset based on the minimum offset and the maximum offset to obtain multiple collision avoidance endpoints.

3. The vehicle collision avoidance control method according to claim 1, characterized in that, The selection of the target collision avoidance trajectory that makes the value of the cost function satisfy a preset condition includes: Iterate through the cost function values ​​corresponding to each collision avoidance trajectory, and select the collision avoidance trajectory with the minimum value as the target collision avoidance trajectory.

4. The vehicle collision avoidance control method according to claim 3, characterized in that, The value of the cost function is obtained in the following way: For any collision avoidance trajectory with a lateral uniform acceleration less than a preset acceleration threshold, a number of sampling points are selected in the collision avoidance trajectory according to a preset longitudinal sampling step size; The cumulative cost value of the transverse instantaneous acceleration corresponding to the selected sampling point is calculated as the value of the cost function.

5. The vehicle collision avoidance control method according to claim 4, characterized in that, Also includes: If the lateral instantaneous acceleration corresponding to the sampling point is greater than or equal to the acceleration threshold, the value of the cost function corresponding to the collision avoidance trajectory where the sampling point is located is set to a preset target value.

6. A vehicle collision avoidance control device, characterized in that, include: The acquisition module is used to acquire the first motion information of the current vehicle and the second motion information of the target objects around the current vehicle; A collision determination module is used to determine the collision location based on the first motion information and the second motion information; The trajectory determination module is used to determine multiple collision avoidance endpoints and the collision avoidance trajectory corresponding to each collision avoidance endpoint based on the collision location and the preset maximum lateral avoidance distance. The collision avoidance processing module is used to establish a cost function based on the offset parameter, the maximum lateral avoidance distance and the lateral acceleration corresponding to the collision avoidance trajectory, and select a target collision avoidance trajectory that makes the value of the cost function satisfy a preset condition to control the current vehicle to avoid collisions. The offset parameter represents the lateral offset of the current vehicle corresponding to the collision avoidance endpoint. The cost function established based on the offset parameter, the maximum lateral avoidance distance, and the lateral acceleration corresponding to the collision avoidance trajectory includes: The collision time is determined based on the first motion information and the collision location; Calculate the lateral uniform acceleration corresponding to the collision avoidance trajectory based on the collision time and the collision avoidance endpoint; A collision avoidance trajectory with a lateral uniform acceleration less than a preset acceleration threshold is selected for longitudinal sampling, and the lateral instantaneous acceleration of the collision avoidance trajectory is determined based on the sampling results. A cost function is established based on the offset parameter, the maximum lateral avoidance distance, and the lateral instantaneous acceleration.

7. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 5.

Images