Lane avoidance control system, method and electronic equipment based on vehicle-road cooperation

Abstract

This invention discloses a lane avoidance control system, method, and electronic device based on vehicle-road cooperation. The system includes: a first image acquisition module, a lidar module, an edge computing unit, a second image acquisition module, a communication module, a cloud platform, and an on-board controller. The cloud platform is used to assess the impact of obstacles on the driving trajectory direction based on third motion information and / or height information, and transmits the assessment results to the on-board controller via the communication module. The on-board controller is located at the bottom of the vehicle's cabin and is used to receive the assessment results and send obstacle avoidance control commands to the obstacle avoidance execution component based on the assessment results. The vehicle is controlled by controlling the state of the obstacle avoidance execution component to achieve obstacle avoidance. The obstacle avoidance execution component is located in the vehicle and is configured to have an adjustable state. This invention achieves precise obstacle avoidance, avoids the risk of vehicle rollover, reduces traffic accidents, and thus improves driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a lane avoidance control system, method and electronic equipment based on vehicle-road cooperation. Background Technology

[0002] In related technologies, traditional autonomous driving systems still pose significant safety risks when faced with sudden or scattered obstacles on the road.

[0003] Currently, most autonomous vehicles rely on onboard cameras, millimeter-wave radar, and basic perception algorithms for obstacle recognition. However, due to limitations in sensor performance and algorithm judgment logic, the system often struggles to accurately identify low, irregularly shaped, or atypical obstacles, causing vehicles to pass through them at high speeds without taking effective obstacle avoidance actions. This can easily lead to traffic accidents such as tire blowouts, chassis scraping, or even loss of control and rollover. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] Therefore, one objective of this invention is to propose a lane avoidance control system based on vehicle-road cooperation, which enables precise avoidance of obstacles, avoids the risk of vehicle rollover, reduces the occurrence of traffic accidents, and thus improves driving safety.

[0006] Therefore, the second objective of this invention is to propose a lane avoidance control method based on vehicle-road cooperation.

[0007] Therefore, a third objective of the present invention is to provide an electronic device system.

[0008] Therefore, a fourth object of the present invention is to provide a computer-readable storage medium.

[0009] To achieve the above objectives, a first aspect of the present invention discloses a lane avoidance control system based on vehicle-road cooperation, comprising: a first image acquisition module, disposed on one or both sides of a road, for acquiring first motion information of vehicles on the road; a lidar module, disposed on one or both sides of the road, for acquiring second motion information of vehicles on the road; an edge computing unit, for determining third motion information of the vehicle based on the first motion information and the second motion information, and transmitting the third motion information to a cloud platform via a communication module, wherein the third motion information includes, but is not limited to, vehicle chassis height, vehicle chassis width, lateral length of an obstacle in front of the vehicle, lane width of the lane currently occupied by the vehicle, wheel width of the vehicle, and relative distance between the vehicle and the obstacle; and a second image acquisition module, disposed at the front of the vehicle, for acquiring first motion information of vehicles in front of the vehicle. The system receives the height information of the obstacle and the current driving trajectory direction of the vehicle, and transmits the height information and trajectory direction to the cloud platform through the communication module. The communication module is used to realize data transmission between the edge computing unit, the second image acquisition module, the cloud platform, and the vehicle controller. The cloud platform is used to evaluate the impact of the obstacle on the driving trajectory direction based on the third motion information and / or the height information, and transmit the evaluation result to the vehicle controller through the communication module. The vehicle controller is located at the bottom of the vehicle cabin and is used to receive the evaluation result and send obstacle avoidance control commands to the obstacle avoidance execution component based on the evaluation result, so as to control the vehicle by controlling the state of the obstacle avoidance execution component to avoid the obstacle. The obstacle avoidance execution component is located in the vehicle and is configured to have an adjustable state.

[0010] According to an embodiment of the vehicle-road cooperative lane avoidance control system of the present invention, a first image acquisition module and a lidar module respectively acquire first motion information and second motion information of vehicles on the road, and transmit the first motion information and second motion information to an edge computing unit. The edge computing unit determines the third motion information of the vehicle based on the fusion analysis of the first motion information and second motion information, and transmits the third motion information to a cloud platform through a communication module. At the same time, a second image acquisition module acquires the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle, and transmits the height information and trajectory direction to the cloud platform through a communication module. The cloud platform evaluates the impact of obstacles on the driving trajectory direction based on the third motion information and / or height information, and transmits the evaluation result to the vehicle controller through a communication module. After receiving the evaluation result from the cloud platform, the vehicle controller sends specific obstacle avoidance control commands to the obstacle avoidance execution component, and controls its state to be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise obstacle avoidance, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0011] In addition, the lane avoidance control system based on vehicle-road cooperation according to the above embodiments of the present invention may also have the following additional technical features: In some embodiments, the obstacle avoidance execution component includes: a steering device, a control motor, a telescopic guide rail unit, and an adjustable wheel assembly; the steering device is connected to the vehicle controller and is used to receive the obstacle avoidance control command and adjust the vehicle's driving trajectory direction according to the obstacle avoidance control command; the control motor is connected to the vehicle controller and is used to receive the obstacle avoidance control command and drive the telescopic guide rail unit and the adjustable wheel assembly to perform telescopic actions according to the obstacle avoidance control command; the telescopic guide rail unit includes a front telescopic guide rail and a rear telescopic guide rail, which are respectively disposed inside the vehicle body in front of the wheels and behind the wheels, and the telescopic guide rail... The retractable guide rail unit is used to perform the retractable action under the drive of the control motor to adjust the vehicle chassis height and driving posture, assisting the vehicle in crossing the obstacle; the adjusting wheel set includes a front attachment wheel, a rear attachment wheel, a front telescopic wheel, and a rear telescopic wheel, wherein the front attachment wheel is located at the front end of the front telescopic guide rail, the rear attachment wheel is located at the front end of the rear telescopic guide rail, and the front telescopic wheel and the rear telescopic wheel are respectively located at the front bottom and rear bottom of the vehicle. The adjusting wheel set is used to work in conjunction with the retractable guide rail unit under the drive of the control motor to adjust the support state of the vehicle by performing the retractable action.

[0012] In some embodiments, when evaluating the impact of the obstacle on the driving trajectory direction based on the height information and transmitting the evaluation result to the vehicle controller through the communication module, the cloud platform is used to: determine that the obstacle will not affect the driving trajectory direction when the height of the obstacle is less than or equal to a preset height threshold, and send a first evaluation result to the vehicle controller through the communication module.

[0013] In some embodiments, when evaluating the impact of the obstacle on the driving trajectory direction based on the third motion information and the height information, and transmitting the evaluation result to the vehicle controller through the communication module, the cloud platform is further configured to: determine that the obstacle affects the driving trajectory direction when the height of the obstacle is greater than the preset height threshold and less than the vehicle chassis height, and the lateral length is less than the vehicle chassis width, and send a second evaluation result to the vehicle controller through the communication module.

[0014] In some embodiments, when evaluating the impact of the obstacle on the driving trajectory direction based on the third motion information and the height information, and transmitting the evaluation result to the vehicle controller via the communication module, the cloud platform is further configured to: determine the difference between the lane width and the wheel width; when the height of the obstacle is greater than the preset height threshold and less than the vehicle chassis height, and the lateral length is greater than or equal to the difference, and the difference is greater than or equal to the measured chassis width, determine that the obstacle affects the driving trajectory direction, and send the third evaluation result to the vehicle controller via the communication module.

[0015] In some embodiments, when evaluating the impact of the obstacle on the driving trajectory direction based on the third motion information and the height information, and transmitting the evaluation result to the vehicle controller through the communication module, the cloud platform is further configured to: determine that the obstacle affects the driving trajectory direction when the height of the obstacle is greater than or equal to the vehicle chassis height, or when the height of the obstacle is greater than the preset height threshold and less than the vehicle chassis height, and the lateral length is greater than the difference, and send a fourth evaluation result to the vehicle controller through the communication module.

[0016] In some embodiments, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller is configured to: when the vehicle controller receives the first evaluation result, send a first obstacle avoidance control command to the obstacle avoidance execution component to control the obstacle avoidance execution component to maintain its current state so that the vehicle continues to drive in the current driving trajectory direction.

[0017] In some embodiments, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller is further configured to: when the vehicle controller receives the second evaluation result, send a second obstacle avoidance control command to the obstacle avoidance execution component to control the steering device to adjust the current driving trajectory direction so that the current driving trajectory direction of the vehicle is adjusted to a target driving trajectory direction that can cover the lateral length of the obstacle.

[0018] In some embodiments, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller is further configured to: when the vehicle controller receives the third evaluation result, send a third obstacle avoidance control command to the obstacle avoidance execution component to control the steering device to adjust the current driving trajectory direction, causing the current vehicle to make a lateral avoidance deviation and adjust the driving trajectory along the target side of the lane line; and when the relative distance between the vehicle and the obstacle is detected to be less than a preset distance threshold, control the front telescopic guide rail. When the front telescopic guide rail extends and crosses the obstacle, the front attachment wheel is controlled to touch the ground to support the vehicle, and the front telescopic wheel and the rear telescopic wheel of the vehicle near the target side are controlled to retract into the vehicle body; the rear telescopic guide rail is controlled to extend, and the rear attachment wheel is controlled to touch the ground, so that the obstacle passes under the vehicle chassis; when the obstacle passes the position of the rear telescopic wheel, the front attachment wheel and the rear attachment wheel are controlled to rise and retract into the vehicle body together with the front telescopic guide rail and the rear telescopic guide rail, and the front telescopic wheel and the rear telescopic wheel re-land to support the vehicle's movement.

[0019] In some embodiments, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller is further configured to: when the vehicle controller receives the fourth evaluation result, send a fourth obstacle avoidance control command to the obstacle avoidance execution component, control the obstacle avoidance execution component to maintain its current state, and control the vehicle to gradually decelerate until it stops safely; and after detecting that the obstacle has been removed, control the vehicle to restart and resume driving.

[0020] In some embodiments, the communication module includes: a roadside unit and a vehicle-mounted unit; the vehicle-mounted unit is disposed at the bottom of the vehicle cabin and is used to receive the third motion information and the height information, and to transmit the third motion information and the height information to the roadside unit; the roadside unit is disposed on one side of the road or on the roadside and is used to receive the third motion information and the height information, and to transmit the third motion information and the height information to the cloud platform.

[0021] To achieve the above objectives, a second aspect of the present invention discloses a lane avoidance control method based on vehicle-road cooperation, comprising: acquiring first motion information of a vehicle on a road; acquiring second motion information of the vehicle on the road; determining third motion information of the vehicle based on the first motion information and the second motion information, wherein the third motion information includes, but is not limited to, vehicle chassis height, vehicle chassis width, lateral length of an obstacle in front of the vehicle, lane line width of the lane where the vehicle is currently located, wheel width of the vehicle, and relative distance between the vehicle and the obstacle; acquiring height information of the obstacle in front of the vehicle and the current driving trajectory direction of the vehicle; evaluating the impact of the obstacle on the driving trajectory direction based on the third motion information and / or the height information, and generating an evaluation result; sending an obstacle avoidance control command to an obstacle avoidance execution component based on the evaluation result, so as to control the vehicle by controlling the state of the obstacle avoidance execution component to achieve obstacle avoidance, wherein the obstacle avoidance execution component is disposed in the vehicle and the obstacle avoidance execution component is configured to be state adjustable.

[0022] According to the vehicle-road cooperative lane avoidance control method of the present invention, the method collects first and second motion information of vehicles on the road, and determines third motion information of vehicles by fusing and analyzing the first and second motion information. At the same time, it collects the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle. Based on the third motion information and / or height information, it evaluates the impact of obstacles on the driving trajectory direction and generates an evaluation result. Then, based on the evaluation result, it sends specific obstacle avoidance control commands to the obstacle avoidance execution component, and controls its state to be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise obstacle avoidance, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0023] To achieve the above objectives, an embodiment of the third aspect of the present invention discloses an electronic device system, comprising: a lane avoidance control system based on vehicle-road cooperation as described in any embodiment of the first aspect of the present invention, or a processor, a memory, and a lane avoidance control program based on vehicle-road cooperation stored in the memory and executable on the processor, wherein the lane avoidance control program based on vehicle-road cooperation implements the lane avoidance control method based on vehicle-road cooperation as described in any embodiment of the second aspect of the present invention when executed by the processor.

[0024] According to an embodiment of the electronic device system of the present invention, a first image acquisition module and a lidar module respectively acquire first motion information and second motion information of a vehicle on the road, and transmit the first motion information and second motion information to an edge computing unit. The edge computing unit determines the third motion information of the vehicle based on the fusion analysis of the first motion information and second motion information, and transmits the third motion information to a cloud platform through a communication module. Simultaneously, a second image acquisition module acquires the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle, and transmits the height information and trajectory direction to the cloud platform through a communication module. The cloud platform evaluates the impact of obstacles on the driving trajectory direction based on the third motion information and / or height information, and transmits the evaluation result to the vehicle controller through a communication module. After receiving the evaluation result from the cloud platform, the vehicle controller sends specific obstacle avoidance control commands to the obstacle avoidance execution component, and controls its state to be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise avoidance of obstacles, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0025] To achieve the above objectives, a fourth aspect of the present invention discloses a computer-readable storage medium storing a lane avoidance control program based on vehicle-road cooperation. When the lane avoidance control program based on vehicle-road cooperation is executed by a processor, it implements the lane avoidance control method based on vehicle-road cooperation as described in the second aspect of the present invention.

[0026] According to an embodiment of the present invention, when a computer-readable storage medium storing a vehicle-road cooperative lane avoidance control program is executed by a processor, it collects first and second motion information of vehicles on the road, and determines third motion information of the vehicles based on the fusion analysis of the first and second motion information. Simultaneously, it collects the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle, evaluates the impact of obstacles on the driving trajectory direction based on the third motion information and / or height information, and generates an evaluation result. Then, based on the evaluation result, it sends specific obstacle avoidance control commands to the obstacle avoidance execution component, and controls its state to be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise obstacle avoidance, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1This is a schematic diagram of a lane avoidance control system based on vehicle-road cooperation according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a lane avoidance control system based on vehicle-road cooperation according to another embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the execution of a first obstacle avoidance control command according to an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the execution of a second obstacle avoidance control command according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the execution of a third obstacle avoidance control command according to an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating the execution of a third obstacle avoidance control command according to an embodiment of the present invention; Figure 7 This is a structural block diagram of a communication module according to an embodiment of the present invention; Figure 8 This is a flowchart of a lane avoidance control method based on vehicle-road cooperation according to an embodiment of the present invention; Figure 9 This is a structural block diagram of an electronic device system according to an embodiment of the present invention; Figure 10 This is a structural block diagram of an electronic device system according to another embodiment of the present invention. Detailed Implementation

[0029] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0030] The following is for reference. Figures 1-7 A lane avoidance control system based on vehicle-road cooperation according to an embodiment of the present invention is described.

[0031] like Figure 1 The diagram shown is a structural schematic of a lane avoidance control system based on vehicle-road cooperation according to an embodiment of the present invention. The lane avoidance control system 100 based on vehicle-road cooperation includes: a first image acquisition module 110, a lidar module 120, an edge computing unit 130, a second image acquisition module 140, a communication module 150, a cloud platform 160, and an on-board controller 170.

[0032] The system includes a first image acquisition module 110 located on one or both sides of the road to acquire first motion information of vehicles on the road; a lidar module 120 located on one or both sides of the road to acquire second motion information of vehicles on the road; an edge computing unit 130 to determine third motion information of the vehicle based on the first and second motion information, and to transmit the third motion information to the cloud platform 160 via a communication module 150. The third motion information includes, but is not limited to, vehicle chassis height, vehicle chassis width, lateral length of obstacles in front of the vehicle, lane width of the current lane, vehicle wheel width, and relative distance between the vehicle and obstacles. A second image acquisition module 140 located at the front of the vehicle is used to acquire height information of obstacles in front of the vehicle and the vehicle's current position. The driving trajectory direction is transmitted to the cloud platform 160 via the communication module 150, which transmits the height information and trajectory direction. The communication module 150 is used to realize data transmission between the edge computing unit 130, the second image acquisition module 140, the cloud platform 160, and the vehicle controller 170. The cloud platform 160 is used to evaluate the impact of obstacles on the driving trajectory direction based on the third motion information and / or height information, and transmits the evaluation results to the vehicle controller 170 via the communication module 150. The vehicle controller 170 is located at the bottom of the vehicle cabin and is used to receive the evaluation results and send obstacle avoidance control commands to the obstacle avoidance execution component based on the evaluation results. The vehicle is controlled by controlling the state of the obstacle avoidance execution component to avoid obstacles. The obstacle avoidance execution component is located in the vehicle and is configured to have an adjustable state.

[0033] In the embodiments, combined with Figure 1 and Figure 2 As shown, the first image acquisition module 110 is set on top of poles on one or both sides of the road, such as a roadside camera. It has a wide dynamic range capability and can clearly capture the movement state of vehicles on the road under various lighting conditions, thereby obtaining the first motion information. The first motion information includes, for example, the vehicle's speed, direction of travel, vehicle angle, relative position and relative distance to obstacles, etc., and transmits the first image information to the edge computing unit 130 through the communication module 150.

[0034] The lidar module 120 is also installed on the poles on one or both sides of the road. For example, a high-beam lidar is used, which has high-precision and high-resolution three-dimensional spatial scanning capabilities to obtain the second motion information of the vehicle. The second motion information includes, for example, the lateral width information of the obstacle in front of the vehicle, the vehicle chassis height, the vehicle chassis width, the lane line width of the current lane, and the vehicle's driving direction. The second motion information is transmitted to the edge computing unit 130 through the communication module 150.

[0035] Edge computing unit 130 fuses the first and second motion information to generate third motion information, including vehicle chassis height, vehicle chassis width, lateral length of obstacles ahead, lane width of the vehicle's lane, wheel width, and relative distance between the vehicle and obstacles. This information not only reflects the vehicle's current state but also reveals its interaction with the surrounding environment. The fused third motion information is then uploaded to cloud platform 160 via communication module 150 for further data processing.

[0036] The second image acquisition module 140 is located at the front of the vehicle and acquires the height information of obstacles in front of the vehicle (such as whether the obstacle is a low object, a pedestrian, or a vehicle) and the current driving trajectory direction of the vehicle. The height information and the current driving trajectory direction of the vehicle are transmitted to the cloud platform 160 through the communication module 150.

[0037] The cloud platform 160 comprehensively evaluates the impact of obstacles on the current vehicle's trajectory direction based on third motion information and / or height information, and transmits the generated evaluation results to the vehicle controller 170 through the communication module 150.

[0038] The vehicle controller 170 is located at the bottom of the vehicle's cabin. It receives evaluation results from the cloud platform 160 and sends specific obstacle avoidance control commands to the obstacle avoidance execution component. The obstacle avoidance execution component is located on the vehicle body, and its state can be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise obstacle avoidance, avoiding the risk of vehicle rollover, reducing traffic accidents, and thus improving driving safety.

[0039] Therefore, in the aforementioned vehicle-road cooperative lane avoidance control system 100, the first image acquisition module 110 and the lidar module 120 respectively acquire the first and second motion information of vehicles on the road, and transmit the first and second motion information to the edge computing unit 130. The edge computing unit 130 determines the third motion information of the vehicle based on the fusion analysis of the first and second motion information, and transmits the third motion information to the cloud platform 160 through the communication module 150. At the same time, the second image acquisition module 140 acquires the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle. The height information and trajectory direction are transmitted to the cloud platform 160 via the communication module 150. The cloud platform 160 evaluates the impact of obstacles on the driving trajectory direction based on the third motion information and / or height information, and transmits the evaluation results to the vehicle controller 170 via the communication module 150. After receiving the evaluation results from the cloud platform 160, the vehicle controller 170 sends specific obstacle avoidance control commands to the obstacle avoidance execution component. The control state can be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise avoidance of obstacles, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0040] In one embodiment of the present invention, such as Figure 2 As shown, the obstacle avoidance execution component includes: a steering device, a control motor, a telescopic guide rail unit, and an adjusting wheel assembly; the steering device is connected to the vehicle controller 170 and is used to receive obstacle avoidance control commands and adjust the vehicle's driving trajectory direction according to the obstacle avoidance control commands; the control motor is connected to the vehicle controller 170 and is used to receive obstacle avoidance control commands and drive the telescopic guide rail unit and the adjusting wheel assembly to perform telescopic actions according to the obstacle avoidance control commands; the telescopic guide rail unit includes a front telescopic guide rail and a rear telescopic guide rail, which are respectively installed in the vehicle body in front of the wheels and behind the wheels. The telescopic guide rail unit is used to perform telescopic movements under the drive of a control motor to adjust the vehicle chassis height and driving posture, assisting the vehicle in crossing obstacles. The adjustable wheel set includes a front attachment wheel, a rear attachment wheel, a front telescopic wheel, and a rear telescopic wheel. The front attachment wheel is located at the front end of the front telescopic guide rail, and the rear attachment wheel is located at the front end of the rear telescopic guide rail. The front telescopic wheel and the rear telescopic wheel are respectively located at the front bottom and rear bottom of the vehicle. The adjustable wheel set works in conjunction with the telescopic guide rail unit under the drive of a control motor to adjust the vehicle's support state by performing telescopic movements.

[0041] In this embodiment, the steering device is connected to the vehicle controller 170 and can receive obstacle avoidance control commands from the vehicle controller 170. Based on these commands, the device adjusts the vehicle's trajectory, enabling the vehicle to precisely move to the required obstacle avoidance position along the planned path. The control motor is also connected to the vehicle controller 170 and, upon receiving obstacle avoidance commands, drives the telescopic guide rail unit and the adjusting wheel assembly to perform corresponding mechanical actions. The telescopic guide rail unit includes a front telescopic guide rail and a rear telescopic guide rail, respectively located inside the vehicle body in front of and behind the wheels. Driven by the control motor, these rails extend or retract along the longitudinal direction of the vehicle body, thereby dynamically adjusting the vehicle's chassis height and driving posture, assisting the vehicle in safely crossing obstacles.

[0042] The adjustable wheel assembly includes a front attachment wheel, a rear attachment wheel, a front telescopic wheel, and a rear telescopic wheel. Working in conjunction with the telescopic guide rail unit, the adjustable wheel assembly forms the vehicle's auxiliary support system. The front attachment wheel is mounted at the front end of the front telescopic guide rail, and the rear attachment wheel is mounted at the front end of the rear telescopic guide rail. When the guide rails extend, these attachment wheels can touch the ground as instructed, providing additional support points for the vehicle and enhancing stability during obstacle avoidance. The front and rear telescopic wheels are located at the front and rear bottom of the vehicle, respectively. Driven by a control motor, they can rise and retract into the vehicle body or descend and extend to the ground, serving as auxiliary support wheels for the vehicle during obstacle avoidance. Through the coordinated action of these components, the vehicle can dynamically adjust its chassis height and support structure when encountering obstacles, thereby safely traversing them.

[0043] In one embodiment of the present invention, when the impact of an obstacle on the driving trajectory direction is evaluated based on height information and the evaluation result is transmitted to the vehicle controller 170 via the communication module 150, the cloud platform 160 is used to: determine that the obstacle will not affect the driving trajectory direction when the height of the obstacle is less than or equal to a preset height threshold, and send the first evaluation result to the vehicle controller 170 via the communication module 150.

[0044] In this embodiment, when the cloud platform 160 determines that the height of an obstacle is less than or equal to a preset height threshold (e.g., 20mm), it considers the obstacle not to affect vehicle movement. At this point, the cloud platform 160 sends a first evaluation result to the vehicle controller 170 via the communication module 150, instructing the vehicle not to perform obstacle avoidance maneuvers and to continue its current driving state to pass safely. This intelligent judgment mechanism based on height thresholds not only improves the system's response efficiency but also enhances driving safety.

[0045] In one embodiment of the present invention, when the cloud platform 160 is used to evaluate the impact of the obstacle on the driving trajectory direction based on the third motion information and height information, and transmit the evaluation result to the vehicle controller 170 through the communication module 150, the cloud platform 160 is further used to: determine that the obstacle affects the driving trajectory direction when the height of the obstacle is greater than a preset height threshold and less than the height of the vehicle chassis, and the lateral length is less than the width of the vehicle chassis, and send the second evaluation result to the vehicle controller 170 through the communication module 150.

[0046] In this embodiment, when the height of an obstacle is greater than a preset height threshold but less than the vehicle chassis height (meaning it will not cause chassis scraping), and its lateral length is less than the vehicle chassis width (i.e., the obstacle width is insufficient to completely block the vehicle's passage), the cloud platform 160 determines that although the obstacle will not damage the vehicle, it may interfere with the vehicle's normal driving path, such as requiring a slight lane change or attitude adjustment to ensure safe passage. At this time, the cloud platform 160 generates and sends a second evaluation result to the vehicle controller 170, instructing the vehicle to make limited trajectory adjustments or attitude optimizations based on the current environment. This improves the intelligence and efficiency of the system response, ensuring that the vehicle completes the obstacle avoidance task with minimal energy consumption and in the smoothest manner while ensuring safety.

[0047] In one embodiment of the present invention, when the cloud platform 160 is used to: determine the difference between the lane width and the wheel width; when the height of the obstacle is greater than a preset height threshold and less than the vehicle chassis height, and the lateral length is greater than or equal to the difference, and the difference is greater than or equal to the vehicle chassis width, it is determined that the obstacle affects the driving trajectory direction, and the third evaluation result is sent to the vehicle controller 170 through the communication module 150.

[0048] In this embodiment, the cloud platform 160 first calculates the difference between the lane width and the wheel width, which reflects the safe margin for lateral movement of the vehicle in the current lane. When the height of the obstacle is greater than a preset height threshold but less than the vehicle chassis height (which will not cause chassis scraping), and the lateral length of the obstacle is greater than or equal to the above difference (i.e., the obstacle width has occupied all or more of the available space for lateral movement of the vehicle), and the difference is greater than or equal to the vehicle chassis width (indicating that the current lane theoretically allows the vehicle to pass, but the obstacle has occupied the critical lateral space), the cloud platform 160 determines that the obstacle will affect the normal driving trajectory of the vehicle. At this time, the cloud platform 160 generates and sends a third evaluation result to the vehicle controller 170, instructing the vehicle to perform active obstacle avoidance actions, such as activating the steering device to adjust the driving direction, or combining the obstacle avoidance execution components to adjust the chassis attitude, to ensure safe passage through the obstacle, thereby improving driving safety.

[0049] In one embodiment of the present invention, when the cloud platform 160 is used to evaluate the impact of the obstacle on the driving trajectory direction based on the third motion information and height information, and transmit the evaluation result to the vehicle controller 170 through the communication module 150, the cloud platform 160 is further used to: determine that the obstacle affects the driving trajectory direction when the height of the obstacle is greater than or equal to the height of the vehicle chassis, or when the height of the obstacle is greater than a preset height threshold and less than the height of the vehicle chassis, and the lateral length is greater than the difference, and send the fourth evaluation result to the vehicle controller 170 through the communication module 150.

[0050] In this embodiment, the cloud platform 160 performs a comprehensive analysis based not only on the third motion information and obstacle height information, but also on the key parameter of the difference between the lane width and the wheel width. When any of the following conditions are met: the height of the obstacle is greater than or equal to the vehicle chassis height (i.e., there is a risk of chassis scraping or inability to pass directly), or the height of the obstacle is greater than a preset height threshold but less than the vehicle chassis height (i.e., the obstacle has a certain height but will not directly scrape the chassis), and its lateral length is greater than the difference between the lane width and the wheel width (i.e., the obstacle occupies the space required for the vehicle to avoid lateral movement, making it impossible to bypass by simply changing lanes), the cloud platform 160 determines that the obstacle will affect the vehicle's driving trajectory and active obstacle avoidance measures must be taken. At this time, the cloud platform 160 generates and sends a fourth evaluation result to the vehicle controller 170 to control the vehicle, for example, by adjusting the trajectory in conjunction with the steering device, or by controlling the obstacle avoidance execution components (such as telescopic guide rails and adjustable wheel sets) to perform actions such as chassis lifting and support wheel extension, so as to achieve safe crossing or avoidance of the obstacle. This assessment mechanism, by incorporating a comprehensive assessment of height, lateral dimensions, and lane space, further enhances the system's perception accuracy and decision-making intelligence in complex road environments, ensuring that vehicles can respond quickly, accurately, and safely when faced with different types of obstacles.

[0051] In one embodiment of the present invention, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result, so as to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller 170 is configured to: when the vehicle controller 170 receives the first evaluation result, send a first obstacle avoidance control command to the obstacle avoidance execution component, and control the obstacle avoidance execution component to maintain its current state so that the vehicle continues to drive in the current driving trajectory direction.

[0052] In an embodiment, such as Figure 3 As shown, when the vehicle controller 170 receives the first evaluation result, it indicates that the cloud platform 160 has completed a comprehensive analysis of the obstacle ahead and determined that the height of the obstacle is less than or equal to a preset height threshold. This means the obstacle will not affect the vehicle's normal driving trajectory. For example, it may be a low road bump, small stones, or marker, insufficient to interfere with the vehicle's passage or change its path. At this time, the vehicle controller 170 generates and sends a first obstacle avoidance control command to the obstacle avoidance execution component based on the first evaluation result, instructing it to maintain its current state, i.e., not to perform any extension, steering, or support actions, maintaining the vehicle's original chassis height, driving posture, and support structure. This avoids unnecessary mechanical movements, reduces energy consumption, and extends the service life of the actuators while ensuring driving safety. It also maintains the stability and continuity of the vehicle's driving, allowing the vehicle to safely pass through the obstacle area along its current driving trajectory in the most natural way. This improves the adaptability and operating efficiency of autonomous vehicles in complex road environments, avoids the risk of vehicle rollover, and enhances driving safety.

[0053] In one embodiment of the present invention, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller 170 is further configured to: when the vehicle controller 170 receives the second evaluation result, send a second obstacle avoidance control command to the obstacle avoidance execution component to control the steering device to adjust the current driving trajectory direction so that the current driving trajectory direction of the vehicle is adjusted to the target driving trajectory direction that can cover the lateral length of the obstacle.

[0054] For example, the width of the vehicle chassis can be denoted as d, and the lateral length as D. In an embodiment, such as Figure 4As shown, when the vehicle controller 170 receives the second evaluation result, it indicates that the cloud platform 160 has determined that although the obstacle ahead will not cause the vehicle chassis to scrape, its height is greater than a preset height threshold, and its lateral length D is less than the vehicle chassis width d. This means that the obstacle will not completely block the vehicle's passage, but a certain degree of trajectory adjustment is required to ensure safe passage. At this time, the vehicle controller 170 generates and sends a second obstacle avoidance control command to the obstacle avoidance execution component based on the second evaluation result, specifically controlling the steering device to dynamically adjust the vehicle's driving trajectory direction according to the current vehicle position, driving direction, and obstacle spatial position. Specifically, the vehicle controller 170 controls the steering device to smoothly adjust the vehicle's driving path from the current trajectory to a new target driving trajectory direction. This target trajectory can cover the lateral length of the obstacle, allowing the vehicle to avoid the obstacle through active lane changing or slight steering without changing the chassis height or activating complex mechanical structures. This control strategy ensures driving safety while avoiding unnecessary mechanical extension and retraction, improving the efficiency and comfort of obstacle avoidance response, and demonstrating the system's intelligent hierarchical response capability and precise control level when facing different obstacle scenarios.

[0055] In one embodiment of the present invention, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller 170 is further configured to: when the vehicle controller 170 receives the third evaluation result, send a third obstacle avoidance control command to the obstacle avoidance execution component to control the steering device to adjust the current driving trajectory direction, so that the current vehicle makes a lateral avoidance deviation and adjusts the driving trajectory along the target side of the lane line; when the relative distance between the vehicle and the obstacle is detected to be less than a preset distance threshold, control the front telescopic guide rail to extend; when the front telescopic guide rail crosses the obstacle, control the front attachment wheel to touch the ground to support the vehicle; control the front telescopic wheel and the rear telescopic wheel of the vehicle near the target side to retract into the vehicle body; control the rear telescopic guide rail to extend; control the rear attachment wheel to touch the ground so that the obstacle passes under the vehicle chassis; when the obstacle passes the position of the rear telescopic wheel, control the front attachment wheel and the rear attachment wheel to rise and retract into the vehicle body together with the front telescopic guide rail and the rear telescopic guide rail; and the front telescopic wheel and the rear telescopic wheel re-land to support the vehicle's movement.

[0056] In an embodiment, such as Figure 5As shown, when the vehicle controller 170 receives the third evaluation result, it indicates that the cloud platform 160 has comprehensively analyzed and determined that although the height of the obstacle ahead is lower than the vehicle chassis height, its lateral length is greater than or equal to the difference between the lane width and the wheel width (for example, denoted as 'a'). This difference, being greater than or equal to the vehicle chassis width, means that the obstacle occupies all the available space for lateral movement of the vehicle, making it impossible to bypass by simply changing lanes. An active obstacle avoidance strategy must be adopted to ensure the vehicle's safe passage. At this time, the vehicle controller 170 generates and sends a third obstacle avoidance control command to the obstacle avoidance execution component based on the third evaluation result.

[0057] Specifically, the vehicle controller 170 controls the steering device to actively laterally deflect the vehicle's trajectory, causing the vehicle to make a controllable trajectory adjustment away from the obstacle and closer to the other side of the lane line, reserving sufficient space for subsequent mechanical obstacle avoidance actions. When the vehicle controller 170 detects that the relative distance between the vehicle and the obstacle is less than a preset distance threshold (e.g., 20 meters), it controls the front telescopic guide rail to extend. After the front telescopic guide rail crosses the obstacle, it controls the front attachment wheels to touch the ground to provide additional support. At the same time, it controls the front telescopic wheel and rear telescopic wheel closest to the target side to retract into the vehicle body, making room for chassis avoidance actions.

[0058] Subsequently, the onboard controller 170 continues to control the extension of the rear telescopic guide rail and instructs the rear attachment wheels to touch the ground, creating a stable "elevated" support structure for the vehicle, allowing obstacles to pass safely under the vehicle chassis. After the obstacle passes the location of the rear telescopic wheels, the front and rear attachment wheels are raised and retracted into the vehicle body along with the front and rear telescopic guide rails. Then, the front and rear telescopic wheels are brought back to the ground, restoring the vehicle's normal support structure, allowing the vehicle to continue driving smoothly along the adjusted trajectory. This achieves precise obstacle avoidance, dynamic support, and automatic reset, effectively improving the vehicle's passability and safety in complex road environments.

[0059] In one embodiment of the present invention, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller 170 is further configured to: when the vehicle controller 170 receives the fourth evaluation result, send a fourth obstacle avoidance control command to the obstacle avoidance execution component to control the obstacle avoidance execution component to maintain its current state and control the vehicle to gradually decelerate until it stops safely; and after detecting that the obstacle has been removed, control the vehicle to restart and resume driving.

[0060] In an embodiment, such as Figure 6As shown, when an obstacle may meet any of the following conditions: its height is greater than or equal to the vehicle chassis height, posing a risk of chassis scraping; or the obstacle's height is lower than the chassis height but higher than a preset height threshold, and its lateral length d is greater than the difference a between the lane width and the wheel width, it means the vehicle cannot safely pass through by simply changing lanes or adjusting its posture. In this case, the on-board controller 170 generates and sends a fourth obstacle avoidance control command to the obstacle avoidance execution component based on the fourth evaluation result, instructing it to maintain its current state, that is, not to perform any mechanical extension or steering adjustment actions, in order to avoid unnecessary dynamic operations in complex environments that may bring additional risks.

[0061] Meanwhile, the vehicle controller 170 controls the vehicle to gradually reduce its speed and eventually stop smoothly within a safe distance, awaiting the removal of the obstacle. During this process, the vehicle controller 170 continuously interacts with the cloud platform 160 via the communication module 150, acquiring real-time road information and determining if the obstacle's state has changed. Once the obstacle is detected as removed and the road environment returns to safe passage conditions, the vehicle controller 170 controls the vehicle to restart and resume driving, ensuring the vehicle continues to perform its original driving task safely, thus effectively guaranteeing the vehicle's operational safety and stability.

[0062] In one embodiment of the present invention, such as Figure 7 As shown, the communication module 150 includes a roadside unit 151 and a vehicle-mounted unit 152. The vehicle-mounted unit 152 is located at the bottom of the vehicle's cabin and is used to receive third motion information and height information, and transmit the third motion information and height information to the roadside unit 151. The roadside unit 151 is located on one side of the road or on the roadside and is used to receive third motion information and height information, and transmit the third motion information and height information to the cloud platform 160.

[0063] In this embodiment, the vehicle-mounted unit 152 is installed at the bottom of the vehicle cabin and receives obstacle height information collected by the second image acquisition module 140 and third motion information generated by the edge computing unit 130. The vehicle-mounted unit 152 sends the third motion information and height information to the roadside unit 151.

[0064] The roadside unit 151 is deployed above poles on one or both sides of the road. It receives third motion information and height information uploaded from the vehicle-mounted unit 152 and transmits the third motion information to the cloud platform 160. This provides the cloud platform 160 with real-time, high-precision environmental perception data for obstacle avoidance decision-making, thereby improving the real-time performance and reliability of data transmission and providing information communication support for vehicle obstacle avoidance.

[0065] According to an embodiment of the vehicle-road cooperative lane avoidance control system 100 of the present invention, a first image acquisition module 110 and a lidar module 120 respectively acquire first motion information and second motion information of vehicles on the road, and transmit the first motion information and second motion information to an edge computing unit 130. The edge computing unit 130 determines the third motion information of the vehicle based on the fusion analysis of the first motion information and the second motion information, and transmits the third motion information to a cloud platform 160 through a communication module 150. At the same time, a second image acquisition module 140 acquires the height information of obstacles in front of the vehicle and the current driving trajectory of the vehicle. The vehicle transmits height and trajectory direction information to the cloud platform 160 via the communication module 150. The cloud platform 160 assesses the impact of obstacles on the driving trajectory direction based on the third motion information and / or height information, and transmits the assessment results to the vehicle controller 170 via the communication module 150. After receiving the assessment results from the cloud platform 160, the vehicle controller 170 sends specific obstacle avoidance control commands to the obstacle avoidance execution component. The control component's state can be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise obstacle avoidance, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0066] A further embodiment of the present invention discloses a lane avoidance control method based on vehicle-road cooperation.

[0067] like Figure 8 The diagram shown is a flowchart of a lane avoidance control method based on vehicle-road cooperation according to an embodiment of the present invention.

[0068] like Figure 8 As shown, the lane avoidance control method based on vehicle-road cooperation includes at least steps S1-S6.

[0069] Step S1: Collect the first motion information of vehicles on the road.

[0070] Step S2: Obtain the second motion information of vehicles on the road.

[0071] Step S3: Determine the vehicle's third motion information based on the first motion information and the second motion information. The third motion information includes, but is not limited to, the vehicle chassis height, the vehicle chassis width, the lateral length of the obstacle in front of the vehicle, the lane line width of the lane where the vehicle is currently located, the vehicle wheel width, and the relative distance between the vehicle and the obstacle.

[0072] Step S4: Collect the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle.

[0073] Step S5: Evaluate the impact of the obstacle on the direction of the driving trajectory based on the third motion information and / or height information, and generate the evaluation result.

[0074] Step S6: Based on the evaluation results, send an obstacle avoidance control command to the obstacle avoidance execution component to control the vehicle by controlling the state of the obstacle avoidance execution component, thereby achieving obstacle avoidance. The obstacle avoidance execution component is installed in the vehicle and is configured to have an adjustable state.

[0075] In one embodiment of the present invention, when assessing the impact of an obstacle on the direction of the driving trajectory based on height information and transmitting the assessment result to the vehicle controller via a communication module, the method includes: when the height of the obstacle is less than or equal to a preset height threshold, determining that the obstacle will not affect the direction of the driving trajectory, and sending a first assessment result to the vehicle controller via the communication module.

[0076] In one embodiment of the present invention, when evaluating the impact of an obstacle on the driving trajectory direction based on third motion information and height information, and transmitting the evaluation result to the vehicle controller through a communication module, the method further includes: when the height of the obstacle is greater than a preset height threshold and less than the height of the vehicle chassis, and the lateral length is less than the width of the vehicle chassis, determining that the obstacle affects the driving trajectory direction, and sending a second evaluation result to the vehicle controller through the communication module.

[0077] In one embodiment of the present invention, when evaluating the impact of an obstacle on the driving trajectory direction based on third motion information and height information, and transmitting the evaluation result to the vehicle controller via a communication module, the method further includes: determining the difference between the lane width and the wheel width; when the height of the obstacle is greater than a preset height threshold and less than the vehicle chassis height, and the lateral length is greater than or equal to the difference, and the difference is greater than or equal to the vehicle chassis width, it is determined that the obstacle affects the driving trajectory direction, and the third evaluation result is sent to the vehicle controller via the communication module.

[0078] In one embodiment of the present invention, when evaluating the impact of an obstacle on the driving trajectory direction based on third motion information and height information, and transmitting the evaluation result to the vehicle controller via a communication module, the method further includes: when the height of the obstacle is greater than or equal to the height of the vehicle chassis, or when the height of the obstacle is greater than a preset height threshold and less than the height of the vehicle chassis, and the lateral length is greater than the difference, determining that the obstacle affects the driving trajectory direction, and sending a fourth evaluation result to the vehicle controller via the communication module.

[0079] In one embodiment of the present invention, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result, so as to control the vehicle by controlling the state of the obstacle avoidance execution component, the method includes: when the vehicle controller receives the first evaluation result, sending a first obstacle avoidance control command to the obstacle avoidance execution component to control the obstacle avoidance execution component to maintain its current state so that the vehicle continues to drive in the current driving trajectory direction.

[0080] In one embodiment of the present invention, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the method further includes: when the vehicle controller receives the second evaluation result, sending a second obstacle avoidance control command to the obstacle avoidance execution component to control the steering device to adjust the current driving trajectory direction so that the current driving trajectory direction of the vehicle is adjusted to the target driving trajectory direction that can cover the lateral length of the obstacle.

[0081] In one embodiment of the present invention, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the method further includes: when the vehicle controller receives the third evaluation result, sending a third obstacle avoidance control command to the obstacle avoidance execution component to control the steering device to adjust the current driving trajectory direction, causing the current vehicle to make lateral avoidance deviation and adjust the driving trajectory along the target side of the lane line; when the relative distance between the vehicle and the obstacle is detected to be less than a preset distance threshold, controlling the front telescopic guide rail to extend; when the front telescopic guide rail crosses the obstacle, controlling the front attachment wheel to touch the ground to support the vehicle; controlling the front telescopic wheel and the rear telescopic wheel of the vehicle near the target side to retract into the vehicle body; controlling the rear telescopic guide rail to extend; controlling the rear attachment wheel to touch the ground, allowing the obstacle to pass under the vehicle chassis; when the obstacle passes the position of the rear telescopic wheel, controlling the front attachment wheel and the rear attachment wheel to rise and retract into the vehicle body together with the front telescopic guide rail and the rear telescopic guide rail; the front telescopic wheel and the rear telescopic wheel re-land to support the vehicle's movement.

[0082] In one embodiment of the present invention, when sending an obstacle avoidance control command to the obstacle avoidance execution component based on the evaluation result to control the vehicle by controlling the state of the obstacle avoidance execution component, the method further includes: when the vehicle controller receives the fourth evaluation result, sending a fourth obstacle avoidance control command to the obstacle avoidance execution component to control the obstacle avoidance execution component to maintain its current state and control the vehicle to gradually decelerate until it stops safely; and after detecting that the obstacle has been removed, controlling the vehicle to restart and resume driving.

[0083] According to the vehicle-road cooperative lane avoidance control method of the present invention, the method collects first and second motion information of vehicles on the road, and determines third motion information of vehicles by fusing and analyzing the first and second motion information. At the same time, it collects the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle. Based on the third motion information and / or height information, it evaluates the impact of obstacles on the driving trajectory direction and generates an evaluation result. Then, based on the evaluation result, it sends specific obstacle avoidance control commands to the obstacle avoidance execution component, and controls its state to be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise obstacle avoidance, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0084] A further embodiment of the present invention discloses an electronic device system.

[0085] In some embodiments, such as Figure 9 As shown, the electronic device system 200 includes the lane avoidance control system 100 based on vehicle-road cooperation described in the above embodiments of the present invention.

[0086] In other embodiments, such as Figure 10 As shown, the electronic device system 200 includes a processor 201, a memory 202, and a lane avoidance control program based on vehicle-road cooperation stored in the memory 202 and executable on the processor 201. When the lane avoidance control program based on vehicle-road cooperation is executed by the processor 201, it implements the lane avoidance control method based on vehicle-road cooperation as described in the above embodiments of the present invention.

[0087] According to an embodiment of the electronic device system 200 of the present invention, a first image acquisition module 110 and a lidar module 120 respectively acquire first motion information and second motion information of a vehicle on the road, and transmit the first motion information and second motion information to an edge computing unit 130. The edge computing unit 130 determines the third motion information of the vehicle based on the fusion analysis of the first motion information and the second motion information, and transmits the third motion information to a cloud platform 160 through a communication module 150. Simultaneously, a second image acquisition module 140 acquires the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle, and transmits the third motion information to a cloud platform 160 through a communication module 150. The communication module 150 transmits height information and trajectory direction to the cloud platform 160. The cloud platform 160 assesses the impact of obstacles on the driving trajectory direction based on the third motion information and / or height information, and transmits the assessment results to the vehicle controller 170 through the communication module 150. After receiving the assessment results from the cloud platform 160, the vehicle controller 170 sends specific obstacle avoidance control commands to the obstacle avoidance execution component. The control component's state can be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise obstacle avoidance, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0088] A further embodiment of the present invention discloses a computer-readable storage medium storing a lane avoidance control program based on vehicle-road cooperation. When the lane avoidance control program based on vehicle-road cooperation is executed by a processor, it implements the lane avoidance control method based on vehicle-road cooperation as described in the above embodiments of the present invention.

[0089] According to an embodiment of the present invention, when a computer-readable storage medium storing a vehicle-road cooperative lane avoidance control program is executed by a processor, it collects first and second motion information of vehicles on the road, and determines third motion information of the vehicles based on the fusion analysis of the first and second motion information. Simultaneously, it collects the height information of obstacles in front of the vehicle and the current driving trajectory direction of the vehicle, evaluates the impact of obstacles on the driving trajectory direction based on the third motion information and / or height information, and generates an evaluation result. Then, based on the evaluation result, it sends specific obstacle avoidance control commands to the obstacle avoidance execution component, and controls its state to be dynamically adjusted according to the obstacle avoidance control commands, thereby achieving precise obstacle avoidance, avoiding the risk of vehicle rollover, reducing the occurrence of traffic accidents, and thus improving driving safety.

[0090] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0091] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A lane avoidance control system based on vehicle-road cooperation, characterized in that, include: The first image acquisition module is set on one or both sides of the road and is used to acquire the first motion information of vehicles on the road. A lidar module is installed on one or both sides of the road to acquire second motion information of vehicles on the road. An edge computing unit is used to determine the third motion information of the vehicle based on the first motion information and the second motion information, and to transmit the third motion information to the cloud platform through a communication module. The third motion information includes the vehicle chassis height, the vehicle chassis width, the lateral length of the obstacle in front of the vehicle, the lane line width of the lane where the vehicle is currently located, the wheel width of the vehicle, and the relative distance between the vehicle and the obstacle. The second image acquisition module is located at the front of the vehicle and is used to acquire the height information of the obstacle in front of the vehicle and the current driving trajectory direction of the vehicle, and transmit the height information and trajectory direction to the cloud platform through the communication module. The communication module is used to realize data transmission between the edge computing unit, the second image acquisition module, the cloud platform and the vehicle controller; The cloud platform is used to evaluate the impact of the obstacle on the driving trajectory direction based on the third motion information and the height information, and transmit the evaluation results to the vehicle controller through the communication module; The vehicle controller, located at the bottom of the vehicle cabin, is used to receive the evaluation results and send obstacle avoidance control commands to the obstacle avoidance execution component based on the evaluation results. The vehicle is controlled by controlling the state of the obstacle avoidance execution component to avoid the obstacle. The obstacle avoidance execution component is located in the vehicle and is configured to have an adjustable state. The obstacle avoidance actuator includes: a steering device, a control motor, a telescopic guide rail unit, and an adjusting wheel set; The steering device is connected to the vehicle controller and is used to receive the obstacle avoidance control command and adjust the vehicle's driving trajectory direction according to the obstacle avoidance control command; The control motor is connected to the vehicle controller and is used to receive the obstacle avoidance control command and drive the telescopic guide rail unit and the adjusting wheel group to perform telescopic actions according to the obstacle avoidance control command. The telescopic guide rail unit includes a front telescopic guide rail and a rear telescopic guide rail. The front telescopic guide rail and the rear telescopic guide rail are respectively installed inside the vehicle body in front of the wheel and behind the wheel. The telescopic guide rail unit is used to perform the telescopic action under the drive of the control motor to adjust the vehicle chassis height and driving posture, and assist the vehicle in crossing the obstacle. The adjusting wheel assembly includes a front attachment wheel, a rear attachment wheel, a front telescopic wheel, and a rear telescopic wheel. The front attachment wheel is located at the front end of the front telescopic guide rail, and the rear attachment wheel is located at the front end of the rear telescopic guide rail. The front telescopic wheel and the rear telescopic wheel are respectively located at the bottom front of the vehicle and the bottom rear of the vehicle. The adjusting wheel assembly is used to work in conjunction with the telescopic guide rail unit under the drive of the control motor to adjust the support state of the vehicle by performing the telescopic action.

2. The lane avoidance control system based on vehicle-road cooperation according to claim 1, characterized in that, When assessing the impact of the obstacle on the driving trajectory direction based on the height information, and transmitting the assessment result to the vehicle controller via the communication module, the cloud platform is used for: When the height of the obstacle is less than or equal to a preset height threshold, it is determined that the obstacle will not affect the driving trajectory direction, and the first evaluation result is sent to the vehicle controller through the communication module.

3. The lane avoidance control system based on vehicle-road cooperation according to claim 2, characterized in that, When evaluating the impact of the obstacle on the driving trajectory direction based on the third motion information and the height information, and transmitting the evaluation results to the vehicle controller via the communication module, the cloud platform is also used for: When the height of the obstacle is greater than the preset height threshold and less than the height of the vehicle chassis, and the lateral length is less than the width of the vehicle chassis, it is determined that the obstacle affects the driving trajectory direction, and a second evaluation result is sent to the vehicle controller through the communication module.

4. The lane avoidance control system based on vehicle-road cooperation according to claim 3, characterized in that, When evaluating the impact of the obstacle on the driving trajectory direction based on the third motion information and the height information, and transmitting the evaluation results to the vehicle controller via the communication module, the cloud platform is also used for: Determine the difference between the lane line width and the wheel width; When the height of the obstacle is greater than the preset height threshold and less than the height of the vehicle chassis, and the lateral length is greater than or equal to the difference, and the difference is greater than or equal to the width of the vehicle chassis, it is determined that the obstacle affects the driving trajectory direction, and a third evaluation result is sent to the vehicle controller through the communication module.

5. The lane avoidance control system based on vehicle-road cooperation according to claim 4, characterized in that, When evaluating the impact of the obstacle on the driving trajectory direction based on the third motion information and the height information, and transmitting the evaluation results to the vehicle controller via the communication module, the cloud platform is also used for: When the height of the obstacle is greater than or equal to the height of the vehicle chassis, or when the height of the obstacle is greater than the preset height threshold and less than the height of the vehicle chassis, and the lateral length is greater than the difference, it is determined that the obstacle affects the driving trajectory direction, and a fourth evaluation result is sent to the vehicle controller through the communication module.

6. The lane avoidance control system based on vehicle-road cooperation according to claim 2, characterized in that, When sending obstacle avoidance control commands to the obstacle avoidance execution component based on the evaluation results, so as to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller is configured to: When the vehicle controller receives the first evaluation result, it sends a first obstacle avoidance control command to the obstacle avoidance execution component, controlling the obstacle avoidance execution component to maintain its current state so that the vehicle continues to travel in the current driving trajectory direction.

7. The lane avoidance control system based on vehicle-road cooperation according to claim 3, characterized in that, When sending obstacle avoidance control commands to the obstacle avoidance execution component based on the evaluation results, so as to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller is further configured to: When the vehicle controller receives the second evaluation result, it sends a second obstacle avoidance control command to the obstacle avoidance execution component to control the steering device to adjust the current driving trajectory direction so that the current driving trajectory direction of the vehicle is adjusted to the target driving trajectory direction that can cover the lateral length of the obstacle.

8. The lane avoidance control system based on vehicle-road cooperation according to claim 4, characterized in that, When sending obstacle avoidance control commands to the obstacle avoidance execution component based on the evaluation results, so as to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller is further configured to: When the vehicle controller receives the third evaluation result, it sends a third obstacle avoidance control command to the obstacle avoidance execution component to control the steering device to adjust the current driving trajectory direction, so that the current vehicle makes a lateral avoidance deviation and adjusts the driving trajectory along the target side of the lane line. When the relative distance between the vehicle and the obstacle is detected to be less than a preset distance threshold, the front telescopic guide rail is controlled to extend. When the front telescopic guide rail crosses the obstacle, the front attachment wheel is controlled to touch the ground to support the vehicle. The front telescopic wheel and the rear telescopic wheel of the vehicle that are close to the target side are controlled to retract into the vehicle body. Control the extension of the rear telescopic guide rail and control the rear attachment wheel to touch the ground, so that the obstacle passes under the vehicle chassis; When the obstacle passes the position of the rear telescopic wheel, the front attachment wheel and the rear attachment wheel are raised and retracted into the vehicle body together with the front telescopic guide rail and the rear telescopic guide rail. The front telescopic wheel and the rear telescopic wheel then land again to support the vehicle's movement.

9. The lane avoidance control system based on vehicle-road cooperation according to claim 5, characterized in that, When sending obstacle avoidance control commands to the obstacle avoidance execution component based on the evaluation results, so as to control the vehicle by controlling the state of the obstacle avoidance execution component, the vehicle controller is further configured to: When the vehicle controller receives the fourth evaluation result, it sends a fourth obstacle avoidance control command to the obstacle avoidance execution component, controlling the obstacle avoidance execution component to maintain its current state and controlling the vehicle to gradually decelerate until it stops safely. After detecting that the obstacle has been removed, the vehicle is restarted and resumes driving.

10. The lane avoidance control system based on vehicle-road cooperation according to claim 1, characterized in that, The communication module includes: a roadside unit and a vehicle-mounted unit; The vehicle-mounted unit is located at the bottom of the vehicle cabin and is used to receive the third motion information and the height information, and transmit the third motion information and the height information to the roadside unit. The roadside unit is located on one side or the side of the road and is used to receive the third motion information and the height information, and transmit the third motion information and the height information to the cloud platform.

11. A lane avoidance control method based on vehicle-road cooperation as described in any one of claims 1-10, characterized in that, include: Collect the first motion information of vehicles on the road; Obtain second motion information of vehicles on the road; The third motion information of the vehicle is determined based on the first motion information and the second motion information, wherein the third motion information includes the vehicle chassis height, the vehicle chassis width, the lateral length of the obstacle in front of the vehicle, the lane line width of the lane where the vehicle is currently located, the wheel width of the vehicle, and the relative distance between the vehicle and the obstacle. Collect the height information of the obstacle in front of the vehicle and the current driving trajectory direction of the vehicle; The impact of the obstacle on the direction of the driving trajectory is evaluated based on the third motion information and the height information, and an evaluation result is generated. Based on the evaluation results, an obstacle avoidance control command is sent to the obstacle avoidance execution component to control the vehicle by controlling the state of the obstacle avoidance execution component, thereby achieving obstacle avoidance. The obstacle avoidance execution component is installed in the vehicle and is configured to have an adjustable state.

12. An electronic device system, characterized in that, include: The lane avoidance control system based on vehicle-road cooperation as described in any one of claims 1-10; or, The processor, the memory, and a vehicle-road cooperative lane avoidance control program stored in the memory and executable on the processor, wherein the vehicle-road cooperative lane avoidance control program, when executed by the processor, implements the vehicle-road cooperative lane avoidance control method as described in claim 11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a lane avoidance control program based on vehicle-road cooperation, which, when executed by a processor, implements the lane avoidance control method based on vehicle-road cooperation as described in claim 11.

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