Vehicle obstacle avoidance driving method and vehicle
By predicting the position and speed data at multiple time points in vehicle obstacle avoidance planning and dynamically calculating the safety envelope based on obstacle size and vehicle speed, the problem of inaccurate obstacle avoidance trajectory planning by the driving assistance system in complex scenarios is solved, achieving precise obstacle avoidance and improved safety.
Patent Information
- Application Number
- CN202511072287.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-31
- Publication Date
- 2025-09-16
AI Technical Summary
Existing driving assistance systems have inaccurate obstacle avoidance trajectory planning or delayed decision-making in complex scenarios, resulting in frequent scratches and collisions. Especially in non-standard road conditions such as obstacles blocking the road, the sensor accuracy and response speed are insufficient.
Based on the vehicle's obstacle avoidance planning function, the position and speed data at multiple time points are predicted, and the obstacle area boundary is dynamically calculated based on the obstacle size and vehicle speed to form a time-space adaptive safety envelope. The high-risk time points are located through the global minimum distance, and the obstacle avoidance driving data is dynamically adjusted to achieve precise obstacle avoidance.
It achieves precise obstacle avoidance in complex scenarios, prevents collisions between vehicles and static obstacles, and improves driving safety and driving smoothness.
Smart Images
Figure CN120645952A_ABST
Abstract
Claims
1. A vehicle obstacle avoidance driving method, characterized in that: The method comprises: Obtaining obstacle avoidance driving data of the vehicle, the obstacle avoidance driving data including vehicle driving data corresponding to multiple time points during the vehicle's driving process of avoiding obstacles, the vehicle driving data including driving position and driving speed; Determining an obstacle position of the obstacle in a vehicle coordinate system of the vehicle based on the driving position of the vehicle at each time point; Determining the length of the obstacle area where the obstacle is located at each time point based on the size data of the obstacle and the driving speed corresponding to each time point; Determining a minimum distance between the vehicle and the obstacle based on the obstacle position corresponding to each time point; The obstacle avoidance driving data is adjusted according to a comparison result between the minimum distance and the area length, and the vehicle is driven based on the adjusted obstacle avoidance driving data.
2. The vehicle obstacle avoidance driving method according to claim 1, characterized in that: The vehicle driving data also includes a driving direction, and obtaining the vehicle's obstacle avoidance driving data includes: A current obstacle position (Px, Py) of the obstacle in the vehicle coordinate system at a current time point is determined, and the obstacle avoidance driving data is determined based on the current obstacle position.
3. The vehicle obstacle avoidance driving method according to claim 2, characterized in that: The multiple time points include an i-th time point, where i represents an integer greater than or equal to 1; If i is equal to 1, the first time point represents the next time point adjacent to the current time point, and the first time point also represents the first time point among the multiple time points; If i is greater than 1, the i-th time point represents the next time point adjacent to the (i-1)-th time point; The vehicle driving data corresponding to the i-th time point includes the i-th driving position; When the vehicle travels to the i-th travel position at the i-th time point, the position of the obstacle in the vehicle coordinate system of the vehicle includes the i-th obstacle position.
4. The vehicle obstacle avoidance driving method according to claim 3, characterized in that: The determining, based on the driving position of the vehicle at each time point, the obstacle position of the obstacle in the vehicle coordinate system of the vehicle includes: If i is 1, based on the current obstacle position (Px, Py), the vehicle's speed v, and the vehicle's direction θ at the current time, determine the first obstacle position (Px0, Py0) of the obstacle in the vehicle coordinate system when the vehicle reaches the first driving position (x0, y0) at the first time point t0. If i is greater than 1, based on the (i-1)th driving position (x0, y0) and the (i-1)th obstacle position (Px0, Py0), determine that when the vehicle travels to the i-th driving position (x1, y1) at the i-th time point, the obstacle is at the i-th obstacle position in the vehicle coordinate system.
5. The vehicle obstacle avoidance driving method according to claim 4, characterized in that: The determining, based on the current obstacle position (Px, Py), the driving speed v, and the driving direction θ of the vehicle at the current time point, a first obstacle position of the obstacle in the vehicle coordinate system when the vehicle travels to the first driving position (x0, y0) at the first time point t0, includes: Determining a first moving distance of the vehicle in the first direction and a second moving distance of the vehicle in the second direction according to a driving speed v and a driving direction θ of the vehicle at the current time point; The position of the current obstacle position in the first direction is updated based on the first moving distance, and the position of the current obstacle position in the second direction is updated based on the second moving distance to obtain the first obstacle position.
6. The vehicle obstacle avoidance driving method according to claim 1, wherein: The size data includes the length and width of the obstacle, and determining the length of the obstacle area where the obstacle is located at each time point based on the size data of the obstacle and the driving speed corresponding to each time point includes: Determining the radius of the obstacle based on the length and the width; Determining an obstacle avoidance gain parameter corresponding to each time point according to a speed range corresponding to the driving speed; The radius length of the obstacle area at each time point is determined according to the radius size and the obstacle avoidance gain parameter to obtain the area length.
7. The vehicle obstacle avoidance driving method according to claim 1, wherein: The determining the minimum distance between the vehicle and the obstacle based on the obstacle position corresponding to each time point includes: Determining corner point positions of a plurality of corner points of the vehicle in the vehicle coordinate system; Determining, based on the corner point positions and the obstacle position corresponding to each time point, a minimum corner point distance between a plurality of corner points of the vehicle corresponding to each time point and the obstacle; The minimum distance between the vehicle and the obstacle is obtained according to the minimum value of all minimum corner point distances at all time points.
8. The vehicle obstacle avoidance driving method according to claim 1, wherein: The adjusting the obstacle avoidance driving data according to the comparison result between the minimum distance and the area length includes: Determining a target time point corresponding to the minimum distance, and determining vehicle travel data corresponding to the target time point; If the comparison result does not meet the preset requirements, the vehicle driving data corresponding to the target time point is adjusted.
9. The vehicle obstacle avoidance driving method according to claim 8, characterized in that: If the comparison result does not meet the preset requirement, adjusting the vehicle driving data corresponding to the target time point includes: If the minimum distance is less than the area length, or the minimum distance is greater than the area length and less than or equal to the first distance threshold, it is determined that the comparison result does not meet the preset requirement, and the driving speed corresponding to the target time node is reduced according to a preset ratio; or If the minimum distance is greater than a second distance threshold, it is determined that the comparison result does not meet the preset requirement, and the driving position corresponding to the target time node is adjusted according to the preset distance.
10. The vehicle obstacle avoidance driving method according to claim 1 or 8, characterized in that: The method further comprises: If the comparison result meets a preset requirement, the obstacle avoidance driving data is not adjusted, and the vehicle is driven to travel based on the obstacle avoidance driving data.
11. A vehicle, characterized in that: The vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the vehicle obstacle avoidance driving method according to any one of claims 1 to 10 is implemented.