Obstacle avoidance method and device of vehicle, electronic equipment and storage medium

Abstract

The invention provides an obstacle avoidance method and device for a vehicle, electronic equipment and a storage medium, and relates to the technical field of vehicle control. The obstacle avoidance method for the vehicle comprises the steps that whether an obstacle exists in front of the vehicle or not is detected; determining the height of an obstacle in response to existence of the obstacle in front of the vehicle; determining a current first ground clearance of the vehicle; according to the height of the obstacle and the first ground clearance, obstacle avoidance control is conducted on the vehicle, whether the vehicle can cross the obstacle or not is reflected more clearly according to the size between the first ground clearance and the height of the obstacle, and therefore the corresponding vehicle obstacle avoidance mode is determined, it is ensured that the vehicle can effectively cross the obstacle, and vehicle driving accidents are avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, electronic device and storage medium for obstacle avoidance of a vehicle. Background Technology

[0002] In existing technologies, vehicles have large blind spots when driving, with no effective detection capability within 30 centimeters below the vehicle chassis. They cannot accurately identify low obstacles, nor can they distinguish the material of obstacles, such as whether the obstacle is metallic or non-metallic. This results in existing vehicle obstacle avoidance strategies being either overly conservative or overly risky. When the vehicle avoids obstacles by adjusting the suspension height, the suspension adjustment can only be adjusted to a fixed height setting. The vehicle's obstacle avoidance strategy is not flexible enough and the obstacle avoidance effect is poor. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, the first objective of this application is to propose a vehicle obstacle avoidance method to achieve flexible and accurate vehicle obstacle avoidance.

[0005] The second objective of this application is to provide an obstacle avoidance device for a vehicle.

[0006] The third objective of this application is to propose an electronic device.

[0007] The fourth objective of this application is to provide a computer-readable storage medium.

[0008] The fifth objective of this application is to provide a computer program product.

[0009] To achieve the above objectives, a first aspect of this application provides a vehicle obstacle avoidance method, comprising:

[0010] Detect whether there are obstacles in front of the vehicle;

[0011] In response to the presence of an obstacle in front of the vehicle, the height of the obstacle is determined;

[0012] Determine the current first ground clearance of the vehicle;

[0013] The vehicle performs obstacle avoidance control based on the height of the obstacle and the first ground clearance.

[0014] To achieve the above objectives, a second aspect of this application provides a vehicle obstacle avoidance device, comprising:

[0015] The detection module is used to detect whether there are obstacles in front of the vehicle;

[0016] A recognition module is used to determine the height of an obstacle in response to the presence of an obstacle in front of the vehicle;

[0017] The acquisition module is used to determine the current first ground clearance of the vehicle;

[0018] An obstacle avoidance module is used to control the vehicle to avoid obstacles based on the height of the obstacle and the first ground clearance.

[0019] To achieve the above objectives, a third aspect of this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0020] The memory stores computer-executed instructions;

[0021] The processor executes computer execution instructions stored in the memory to implement the method described in the first aspect embodiment.

[0022] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the method described in the first aspect embodiment.

[0023] To achieve the above objectives, a fifth aspect of this application provides a computer program product including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0024] The obstacle avoidance method, device, electronic equipment, and storage medium provided in this application, when determining that there is an obstacle in front of the vehicle, respectively acquire the height of the obstacle and the vehicle's current first ground clearance, and perform obstacle avoidance control on the vehicle based on whether the first ground clearance can overcome the height of the obstacle. Based on the size of the first ground clearance and the height of the obstacle, it more clearly reflects whether the vehicle can overcome the obstacle, ensuring that the vehicle's obstacle avoidance control can effectively overcome the obstacle and avoid vehicle driving accidents.

[0025] Additional aspects and advantages of this application 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 this application. Attached Figure Description

[0026] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0027] Figure 1 A schematic flowchart illustrating a vehicle obstacle avoidance method provided in an embodiment of this application;

[0028] Figure 2A flowchart of obstacle avoidance control for a vehicle is provided as an embodiment of this application;

[0029] Figure 3 A flowchart for confirming the height of an obstacle is provided as an embodiment of this application;

[0030] Figure 4 A logic flowchart illustrating another obstacle avoidance method for a vehicle provided in an embodiment of this application;

[0031] Figure 5 A logic flowchart of a vehicle obstacle avoidance method provided in an embodiment of this application;

[0032] Figure 6 A logic flowchart for a lift compensation provided in an embodiment of this application;

[0033] Figure 7 A schematic diagram of the structure of a vehicle obstacle avoidance system provided in an embodiment of this application;

[0034] Figure 8 This is a schematic diagram of the structure of a vehicle obstacle avoidance device provided in an embodiment of this application. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0036] The following description, with reference to the accompanying drawings, describes a vehicle obstacle avoidance method, apparatus, electronic device, and storage medium according to embodiments of this application.

[0037] Figure 1 This is a schematic flowchart illustrating a vehicle obstacle avoidance method provided in an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0038] S101, detects whether there are obstacles in front of the vehicle.

[0039] In some embodiments, obstacle identification can be performed using radar to determine whether there is an obstacle in front of the vehicle; alternatively, lidar or millimeter-wave radar can be used for scanning, scanning a certain area in front of the vehicle each time, such as an area of ​​150 meters or 200 meters, to determine whether there is an obstacle within 150 meters or 200 meters in front of the vehicle. In this embodiment, millimeter-wave radar is used to identify the area 200 meters in front of the vehicle, and lidar is used to identify the area 150 meters in front of the vehicle.

[0040] S102, in response to the presence of an obstacle in front of the vehicle, determines the height of the obstacle.

[0041] When an obstacle is detected in front of the vehicle, the height of the obstacle is identified.

[0042] Optionally, the obstacle can be analyzed based on the data scanned by the radar to determine its height.

[0043] Optionally, if multiple radar methods are used for obstacle recognition, the multiple recognition results can be fused. For example, obstacle analysis can be performed separately based on the data scanned by lidar and millimeter-wave radar to obtain the obstacle heights corresponding to lidar and millimeter-wave radar respectively. The obstacle heights corresponding to lidar and millimeter-wave radar can be fused by weighted summation or averaging to obtain a more accurate final obstacle height.

[0044] S103, determine the vehicle's current first ground clearance.

[0045] In this embodiment, the vehicle's current ground clearance refers to the vertical distance between the lowest point of the vehicle's chassis and the ground.

[0046] Optionally, the first ground clearance can be measured and recorded in advance when the vehicle is stationary, or the first ground clearance can be obtained from on-board sensors, or the first ground clearance can be determined by the driver assistance system.

[0047] S104, based on the height of the obstacle and the first ground clearance, performs obstacle avoidance control on the vehicle.

[0048] Understandably, if the height of the obstacle is less than the first ground clearance, it means that when the vehicle is currently driving over the obstacle, the obstacle will not damage or scrape the vehicle chassis, and the vehicle can be controlled to drive normally; if the height of the obstacle is greater than the first ground clearance, it means that the current chassis height of the vehicle cannot smoothly pass over the obstacle, and the vehicle can be controlled to steer to avoid the obstacle.

[0049] Optionally, when the height of the obstacle is greater than the first ground clearance, the vehicle can be controlled to raise its chassis to pass over the obstacle. Understandably, before controlling the vehicle to raise its chassis, the maximum ground clearance of the vehicle chassis can be determined. If the maximum ground clearance is greater than the height of the obstacle, it means that the vehicle can pass over the obstacle after raising its chassis, and the chassis raising operation can be performed. Correspondingly, if the maximum ground clearance is less than the obstacle, it means that the vehicle cannot pass over the obstacle after raising its chassis, and the vehicle is directly steered to bypass the obstacle to avoid a vehicle accident.

[0050] In this embodiment, when an obstacle is detected in front of the vehicle, the height of the obstacle and the vehicle's current first ground clearance are obtained. Based on whether the first ground clearance can overcome the obstacle's height, obstacle avoidance control is implemented. When the first ground clearance is greater than the obstacle's height, the obstacle will not affect the vehicle, and the vehicle can continue driving. When the first ground clearance is less than the obstacle's height, the vehicle's suspension system can be raised to increase the chassis height and overcome the obstacle, thus completing obstacle avoidance. The relationship between the first ground clearance and the obstacle's height provides a clearer indication of whether the vehicle can overcome the obstacle, ensuring that obstacle avoidance control effectively overcomes obstacles and preventing vehicle accidents.

[0051] Based on the above embodiments, Figure 2 This is a flowchart illustrating obstacle avoidance control for a vehicle, provided as an embodiment of this application. Figure 2 As shown, the method includes:

[0052] S201, in response to an obstacle whose height is less than or equal to the first ground clearance, maintains the vehicle's suspension height.

[0053] The suspension height of a vehicle refers to the amount of compression or extension of the suspension system under specific conditions. It reflects the dynamic distance between the wheels and the vehicle body and directly affects the suspension travel and wheel contact with the ground. Adjusting the suspension height can be used to change the chassis height.

[0054] When the height of the obstacle is less than or equal to the first ground clearance, it means that the vehicle can pass over the obstacle smoothly. At this time, the vehicle's suspension height is maintained, that is, the vehicle's chassis height is not adjusted.

[0055] S202, in response to the obstacle's height being greater than the first ground clearance and less than the vehicle's maximum ground clearance, the vehicle's suspension system is lifted.

[0056] In some embodiments, a target lift of the suspension system can be determined based on the height of the obstacle, the first ground clearance, and the maximum ground clearance of the vehicle. The suspension system of the vehicle is then lifted according to the target lift.

[0057] Understandably, the first ground clearance is added to the target lift to obtain the new ground clearance. The new ground clearance should be at least greater than the height of the obstacle to ensure that the vehicle's suspension system can overcome the obstacle after being lifted. At the same time, with the vehicle's maximum ground clearance as the upper limit, the new ground clearance should be less than or equal to the vehicle's maximum ground clearance.

[0058] Alternatively, the target lift can be calculated as follows:

[0059] ΔH=min(Hmax -H c H f -H c +α)

[0060] Where ΔH is the target lift, and H is taken as... max -H c and H f -H c The minimum value between +α, where α is the lifting redundancy, and in this embodiment, it is taken as 0-50 mm to ensure that the object can pass smoothly through obstacles after lifting; H max H represents the maximum ground clearance. c H is the first ground clearance. f The height of the obstacle.

[0061] In some embodiments, the critical distance for controlling the lifting of the vehicle's suspension system can be determined based on the target lift amount, the lifting speed of the suspension system, and the vehicle's travel speed; in this embodiment, the calculation of the critical distance can be as follows:

[0062]

[0063] Where, d critical The critical distance; ΔH is the target lift; V v v is the vehicle's speed. l The adjustment speed of the suspension system is 0.12 m / s in this embodiment; The required adjustment time; The required adjustment time and vehicle speed correspond to the required adjustment distance, and Δd is the safety margin. In this embodiment, the safety margin can range from 0 to 2 meters. The safety margin of Δd is added to the required adjustment distance to ensure that the vehicle can complete the lifting of the suspension system.

[0064] Furthermore, the distance between the vehicle and the obstacle is monitored, and when the distance between the vehicle and the obstacle is greater than or equal to the critical distance, the vehicle's suspension system is raised.

[0065] Optionally, this embodiment can generate a lifting command for the suspension system based on the target lifting amount. The lifting command includes at least the target lifting amount and the critical distance. The lifting command is sent to the suspension system to instruct the suspension system to perform a lifting operation according to the target lifting amount before the distance between the vehicle and the obstacle reaches the critical distance.

[0066] Optionally, the four-wheel synchronous lifting adjustment model may include:

[0067]

[0068] in, Let h be the height-time function, representing the height of the k-th wheel at the current time. k0 It is the initial height of the k-th wheel; t k τ is the time when the t-th wheel begins to lift; τ is the lifting time constant; ΔH is the target lifting amount; the min function is used to ensure that the lifting amount does not exceed the target lifting amount; |h i (t)-h j (t)|≤Υ is a synchronization constraint, indicating that the height difference between any two wheels i and j cannot exceed Υ. For example, if Υ is 3 mm, then the height difference between any two wheels i and j cannot exceed 3 mm, to ensure that the vehicle remains stable during the lifting process and avoids body twisting; η=ΔH / v max To assess lifting efficiency and performance, v max This represents the maximum lifting speed.

[0069] In some embodiments, after the four wheels are raised synchronously, if the ground clearance of the four wheels is inconsistent, differential compensation control can be applied to the height of the four wheels. The specific compensation amount can be:

[0070]

[0071] Where, Δh k e is the compensation height for the k-th wheel; k For height error, e k =max(0,H f +0.02-h k This means that a positive error occurs only when the height of the obstacle + 2 cm safety margin is greater than the current wheel height. This item is used to ensure that the vehicle chassis height is always higher than the obstacle height; K p =0.8, K d =0.2, both are control parameters, K p As a proportional term, the rapid response height deviation, K d As a differential term, it suppresses overshoot and improves stability, only lifting (e) when necessary. k It takes effect when >0).

[0072] Optionally, the compensation constraint can also be set as ∑|Δh k |≤0.05 is used to limit the total adjustment amount, that is, the total adjustment amount of the four wheels cannot exceed 5 centimeters, to prevent excessive adjustment from causing vehicle instability.

[0073] Furthermore, during the vehicle's movement, the distance between the vehicle and the obstacle is monitored in real time. If the distance between the vehicle and the obstacle reaches a first set distance, the second ground clearance around the wheel is collected based on the sensor at the wheel to verify the ground clearance. In this embodiment, the first set distance can be 3 meters.

[0074] Optionally, the sensor at the wheel can be an ultrasonic sensor to obtain a more accurate ground clearance; the judgment in the clearance verification can be expressed as:

[0075]

[0076] Wherein, Alarm represents the gap verification result, which is verified based on the most recent n measurements; h k The measured height of the k-th wheel is also known as the second ground clearance. It is the minimum value among n measurements corresponding to all wheels, which is also the minimum ground clearance in the second ground clearance; H f +Δh ′ It is to add Δh to the height of the obstacle. ′ Redundancy distance, Δh ′ The value ranges from 1 mm to 20 mm, meaning the minimum ground clearance is greater than or equal to H. f +Δh ′ When the condition is met, the gap verification result is determined to be 0; otherwise, the gap verification result is determined to be 1.

[0077] In response to the minimum ground clearance being greater than or equal to the height of the obstacle, i.e., the clearance verification result being 0, the suspension system lifting operation is stopped.

[0078] Correspondingly, if at least one of the second ground clearances around the wheel is less than the height of the obstacle, that is, the clearance verification result is 1, the capacitive-inductive sensor array is activated to sense when the distance between the vehicle and the obstacle reaches the second set distance; wherein the second set distance is less than the first set distance, and in this embodiment the second set distance can be 0.5 meters.

[0079] Furthermore, a topographic map can be constructed based on the sensing data from the capacitive and inductive sensor array. The topographic map can be a three-dimensional spatial model constructed from the sensing data of the capacitive and inductive sensor array, which quantifies the surface features, such as ground slope or curvature. Based on the topographic map, it can be determined whether there is a vehicle passage path, that is, whether the vehicle can cross or bypass the obstacle, thereby determining the method of lifting compensation for the vehicle.

[0080] Specifically, in response to the existence of a path on the terrain map, a single-wheel lifting operation is performed on the wheels whose height is less than that of the obstacle. That is, a single-wheel lifting operation is performed on the wheels whose second ground clearance is less than that of the obstacle. The lifting amount is determined based on the height of the obstacle, and the ground clearance after lifting should be able to smoothly pass over the obstacle.

[0081] In response to the absence of a path on the terrain map, emergency measures are triggered to raise the suspension system to its maximum value to pass over the obstacle with maximum ground clearance; and / or, emergency braking is applied to the vehicle to prevent the obstacle from scraping the chassis.

[0082] In some embodiments, the speed at which the vehicle is subjected to emergency braking can be set as follows: a beake For the required acceleration during emergency braking, V v d represents the vehicle's speed; d represents the distance between the vehicle and the obstacle.

[0083] S203, in response to an obstacle height greater than the maximum ground clearance, plans an obstacle avoidance path for the vehicle and drives to avoid obstacles according to the planned path.

[0084] It is understandable that when the height of the obstacle is greater than the maximum ground clearance, it means that no matter how the vehicle adjusts the suspension height, it cannot drive over the obstacle. Therefore, obstacle avoidance path planning is performed on the vehicle to obtain the obstacle avoidance path.

[0085] Alternatively, the position update process in the obstacle avoidance path can be determined based on the following formula:

[0086]

[0087] Among them, (x new ,y new (x, y) represents the updated position; (x, y) represents the vehicle's current position; V v The current vehicle speed is represented by Δt; the time step is represented by θ; and the current heading angle is represented by θ. This represents the rate of change of steering angle, and the specific method for obtaining it is as follows:

[0088]

[0089] Where sgn(x0-x) determines the turning direction, and x0 is the position of the obstacle; The distance-weighted factor is used, with closer distances resulting in sharper turns; κ represents the curvature factor, which is obtained as follows:

[0090]

[0091] Among them, f w w is the width of the road. v f is the width of the obstacle. w ′ The minimum safe road width is 3 meters in this embodiment, based on the centrifugal force formula, to ensure stability during turning.

[0092] After obtaining the obstacle avoidance path, control the vehicle to avoid obstacles according to the planned obstacle avoidance path.

[0093] In some embodiments, if the vehicle passes an obstacle by raising the suspension, after passing the obstacle, the vehicle can be controlled to return to its original suspension height and other parameters can be reset to perform perception and recognition again.

[0094] In this embodiment, the order of S201, S202, and S203 is not a limitation on the execution order. Based on the relationship between the height of the obstacle and the first ground clearance, a corresponding step is determined from S201-S203 for execution. The specific decision function can be expressed as:

[0095]

[0096] Among them, H f H represents the height of the obstacle. c H is the first ground clearance. max This is the maximum ground clearance; at H f ≤H c S201 is executed at H. c <H f ≤H max Execute S202,H f >H c S203 is executed at that time.

[0097] In this embodiment, the obstacle avoidance method of the vehicle is determined by the relationship between the first ground clearance, the maximum ground clearance, and the height of the obstacle, making the vehicle control more flexible. When the vehicle's wheels are lifted, four-wheel lifting and differential compensation of a single wheel are used to ensure that the vehicle can successfully cross the obstacle. At the same time, a secondary clearance verification is performed at a position closer to the obstacle. If the secondary clearance is not met, the capacitive and inductive sensors are activated to replan the obstacle avoidance method to ensure that the vehicle can safely cross the obstacle. When the obstacle height is greater than the maximum ground clearance and the vehicle cannot cross the obstacle, the vehicle's obstacle avoidance path is planned in a timely manner. The vehicle avoids obstacles based on the obstacle avoidance path to avoid collisions or accidents during driving.

[0098] Based on the above embodiments, Figure 3 This is a flowchart illustrating how to confirm the height of an obstacle, as provided in an embodiment of this application. Figure 3 As shown, the method includes:

[0099] S301, acquire weather condition information and determine the environmental degradation factor based on the weather condition information.

[0100] In some embodiments, since environmental factors have a significant impact on vehicle detection components, such as the sharp drop in the sensing capability of ultrasonic radar in rainy or foggy weather, the detection system is prone to deviation. Therefore, weather condition information is obtained to determine the environmental attenuation factor. In this embodiment, the weather condition information can be data such as rainfall intensity and fog concentration.

[0101] Alternatively, the environmental degradation factor can be calculated as follows:

[0102]

[0103] Where f is the environmental degradation factor; R is the rainfall intensity, the greater the rainfall intensity, the more severe the sensor performance degradation; F is the fog concentration, the higher the concentration, the more obvious the sensor performance degradation; there is no degradation on sunny days; e is the natural constant.

[0104] S302, based on the environmental attenuation factor, the attribute information of different types of sensors, and the sensing data, determine the respective weights of different types of sensors.

[0105] In this embodiment, the sensor types may include inductive sensors, capacitive sensors, millimeter-wave radar, lidar, and ultrasonic radar. The attribute information of different sensor types is the inherent confidence level of that sensor type, which reflects the basic reliability of different sensor types. For example, millimeter-wave radar is 0.85, lidar is 0.9, and ultrasonic radar is 0.95.

[0106] It should be noted that in this embodiment, when the height of the obstacle is first acquired, the confidence levels of the capacitive and inductive sensors are low due to the large distance from the obstacle. At this stage, the inherent confidence levels of both the capacitive and inductive sensors are 0. When the distance between the vehicle and the obstacle reaches the first set distance, the minimum clearance height around the wheel and the height of the obstacle are judged again. At this time, the height of the obstacle needs to be re-evaluated and fused. Since the distance to the obstacle is close, the confidence levels of the capacitive and inductive sensors are high. The inherent confidence level is determined based on the detected sensor material. For example, the inherent confidence level of the capacitive sensor is 1 for non-metallic obstacles and 1 for metallic obstacles.

[0107] For any type of sensor, the corresponding weight calculation can be as follows:

[0108]

[0109] Where, ω i c represents the weight of sensor i; i Indicates the inherent confidence level of the sensor; f i Environmental degradation factor; d max,i d is the sensor's maximum effective detection range;i The actual distance measured by the sensor; The measurement weight of the sensor decreases as the distance increases, with higher weights for closer distances, and the weight drops to 0 when the maximum detection distance is reached.

[0110] S303, based on the weights of different types of sensors, fuses the heights of candidate obstacles perceived by the sensors to obtain the height of the obstacle.

[0111] Alternatively, the height of the fused candidate obstacles can be based on the following formula:

[0112]

[0113] Among them, H t The height of the obstacle is obtained by weighted averaging of the height measurements of candidate obstacles using five sensors: inductive sensor, capacitive sensor, millimeter-wave radar, lidar, and ultrasonic radar. In other words, it is obtained by weighted averaging of the obstacle height measurements. ω i H represents the weight of sensor i; i This indicates the height measured by sensor i.

[0114] Furthermore, during the secondary gap verification process, when the capacitive-inductive sensor array is activated, different compensation terms can be determined for different types of obstacles based on the sensing data from the capacitive-inductive sensor array. In this embodiment, the specific method for obtaining the compensation terms is as follows:

[0115]

[0116] Where δ is the compensation term, when the inductive sensor detects a metal obstacle, a fixed compensation of 2 cm is added to avoid additional risks caused by the metal object; when the capacitive sensor detects a protruding obstacle, the difference between the expected height and the actual height of the obstacle is compensated, H. cap This is the expected height.

[0117] After obtaining the compensation term, adjust the height H according to the compensation term. t The height H of the obstacle is corrected in this embodiment. f =H t +δ.

[0118] Furthermore, to avoid significant errors in obstacle height detection due to sensor failure, this embodiment also includes a sensor failure detection process.

[0119] Specifically, the uncertainty factors of different types of sensors can be determined; the uncertainty factors of different types of sensors are fused to obtain the first parameter; the first parameter is expressed as:

[0120]

[0121] Where, σ f σ is the first parameter; i Let be the uncertainty factor of sensor i.

[0122] Furthermore, based on the first parameter and the first obstacle height sensed by the sensor, a failure detection is performed on the sensor. The process of sensor failure detection can be expressed as:

[0123]

[0124] Among them, H i The height measured by sensor i, that is, at And the duration is greater than or equal to t τ At a certain time, the sensor is determined to have failed, and the failure detection result is "Fault". i Take 1, where It can be 3, t τ The value is 0.1; otherwise, the sensor is determined to be normal, and the failure detection result is Fault. i Take 0.

[0125] Furthermore, when a sensor failure is detected, the weights of the undone sensors are updated, and / or the lifting speed of the suspension system is limited.

[0126] Alternatively, the weighting of non-failed sensors can be done in the following way:

[0127]

[0128] in, The updated weights for the sensors; ω i The weight of the failed sensor; ω k c represents the weights of the k-th sensor before the update. k c represents the confidence level of the k-th sensor. j The confidence level of the failed sensor is determined; the weight of the failed sensor is proportionally distributed to other non-failed sensors to ensure that the height of the obstacle is correctly obtained.

[0129] Alternatively, limiting the lifting speed of the suspension system can be expressed as:

[0130]

[0131] in, v is the restricted lifting speed; l The original lifting velocity is 0.12 m / s in this embodiment; Fault susp This is the average failure rate, used to adjust the speed.

[0132] In this embodiment, the environmental attenuation factor is obtained based on weather condition information. The weight of each sensor is obtained from the inherent confidence level of the sensor, the environmental attenuation factor, and the measurement height. The measurement heights of the sensors are fused according to their weights to obtain a more accurate obstacle height, providing an accurate basis for vehicle obstacle avoidance. At the same time, this embodiment can also compensate for the height of obstacles for different obstacle types, avoiding large friction or damage to the vehicle chassis caused by metal obstacles, and improving the vehicle's obstacle avoidance effect.

[0133] Figure 4 This is a logic flowchart illustrating another obstacle avoidance method for vehicles provided in an embodiment of this application. Figure 4 As shown, the method includes the following steps:

[0134] S401, detects whether there are obstacles in front of the vehicle.

[0135] S402, in response to the presence of an obstacle in front of the vehicle, acquires weather condition information and determines an environmental degradation factor based on the weather condition information.

[0136] S403 determines the weights of different types of sensors based on the environmental attenuation factor, attribute information of different types of sensors, and sensing data.

[0137] S404, based on the weights of different types of sensors, fuses the heights of candidate obstacles perceived by the sensors to obtain the height of the obstacle.

[0138] S405, determine the vehicle's current first ground clearance.

[0139] S406, in response to an obstacle whose height is less than or equal to the first ground clearance, maintains the vehicle's suspension height.

[0140] S407, in response to an obstacle having a height greater than the first ground clearance and less than the vehicle's maximum ground clearance, raises the vehicle's suspension system.

[0141] The S408 responds to obstacles whose height exceeds the maximum ground clearance by planning an obstacle avoidance path for the vehicle and then driving to avoid obstacles according to the planned path.

[0142] In this application embodiment, the implementation method of steps S401-S408 can be implemented in any of the embodiments of this disclosure, and no limitation is made here, nor will it be described in detail.

[0143] In this embodiment, when an obstacle is detected in front of the vehicle, the environmental attenuation factor is obtained based on weather information. The weight of each sensor is obtained from the inherent confidence level of the sensor, the environmental attenuation factor, and the measured height. The measured heights of the sensors are fused according to their weights to obtain a more accurate obstacle height. The vehicle's current first ground clearance is then obtained. Based on whether the first ground clearance can overcome the obstacle height, obstacle avoidance control is performed on the vehicle, making the vehicle control more flexible. When the vehicle's wheels are lifted, four-wheel lifting and differential compensation of a single wheel are used to ensure that the vehicle can successfully overcome the obstacle. At the same time, a secondary clearance verification is performed at a position closer to the obstacle. If the secondary clearance fails, the capacitive and inductive sensors are activated to replan the obstacle avoidance method, ensuring that the vehicle can safely overcome the obstacle and that the obstacle avoidance control of the vehicle can effectively overcome the obstacle, avoiding collisions or driving accidents between the vehicle and the obstacle during driving.

[0144] Figure 5 This is a logic flowchart of a vehicle obstacle avoidance method provided in an embodiment of this application. The system uses millimeter-wave radar and lidar to scan for obstacles in front of the vehicle. When an obstacle's height is detected, it is compared to the vehicle's current ground clearance. If the ground clearance is greater than the obstacle's height, the suspension height remains constant. If the obstacle's height is greater than the maximum ground clearance, it indicates the vehicle cannot pass the obstacle, and path replanning is performed, using steering / braking coordination to avoid it. If the obstacle's height is greater than the current ground clearance but less than the maximum ground clearance, a target lift is determined, and the vehicle is controlled to simultaneously lift all four air suspensions according to this target lift. Before the simultaneous lift, the air springs are pre-pressurized when the vehicle is 100 meters from the obstacle. The lift is completed before the critical distance. After the lift, ultrasonic testing is performed to verify the four-wheel clearance. The minimum clearance among the four wheels is determined to be greater than or equal to the obstacle's height. If it is, the vehicle can smoothly pass the obstacle. Conversely, if the minimum clearance among the four wheels is less than the obstacle's height, an electric inductive array scan is initiated, and differential compensation is performed to achieve a secondary lift of the four wheels, thus smoothly passing the obstacle.

[0145] Figure 6This is a logic flowchart of a lift compensation method provided in an embodiment of this application. After the first lift operation is completed before the critical distance, ultrasonic verification is performed when the preset distance of 3 meters is reached to determine whether the minimum clearance among the four wheels is greater than or equal to the height of the obstacle. If so, the obstacle is passed smoothly. Otherwise, if the minimum clearance among the four wheels is less than the height of the obstacle, a capacitive-inductive depth scan is initiated at 0.5 meters to construct a micro-topographic map. Based on the micro-topographic map, it is determined whether a passage path exists. If a passage path exists, a single-wheel lift is performed to avoid the obstacle. If no passage path exists, emergency measures are triggered, including but not limited to: maximum lift of the entire suspension, intervention of the Electronic Stability Program (ESP) braking system, and pre-inflation of the airbags.

[0146] In order to achieve the obstacle avoidance method for the aforementioned vehicles, Figure 7 This is a schematic diagram of a vehicle obstacle avoidance system provided in an embodiment of this application. It includes a sensing layer, a decision layer, and an execution layer. The sensing layer acquires sensing data and may include sensing units such as capacitive sensor arrays, inductive sensor arrays, millimeter-wave radar, ultrasonic radar, and lidar. It senses and scans obstacles in front of the vehicle and sends information about the presence of obstacles to the decision layer. The decision layer obtains the height of the obstacle based on the received information. When the obstacle height is less than the current ground clearance, the air suspension remains unchanged. When the obstacle height is greater than the current ground clearance but less than the vehicle's maximum ground clearance, the air suspension is raised to increase the chassis height before the vehicle approaches the obstacle. When the obstacle height is greater than the maximum ground clearance, the vehicle automatically avoids the obstacle using its planned path. The execution layer executes the vehicle's obstacle avoidance control.

[0147] To achieve the above embodiments, this application also proposes a vehicle obstacle avoidance device.

[0148] Figure 8 This is a schematic diagram of the structure of a vehicle obstacle avoidance device provided in an embodiment of this application. Figure 8 As shown, the obstacle avoidance device 800 of the vehicle includes:

[0149] Detection module 801 is used to detect whether there are obstacles in front of the vehicle;

[0150] The recognition module 802 is used to determine the height of an obstacle in response to the presence of an obstacle in front of the vehicle;

[0151] The acquisition module 803 is used to determine the vehicle's current first ground clearance;

[0152] The obstacle avoidance module 804 is used to control the vehicle to avoid obstacles based on the height of the obstacle and the first ground clearance.

[0153] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is used for:

[0154] In response to an obstacle whose height is less than or equal to the first ground clearance, the vehicle's suspension height is maintained;

[0155] In response to an obstacle whose height is greater than the first ground clearance but less than the vehicle's maximum ground clearance, the vehicle's suspension system is raised.

[0156] In response to an obstacle whose height exceeds the maximum ground clearance, the vehicle plans an obstacle avoidance path and drives according to the planned path.

[0157] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is used for:

[0158] The target lift of the suspension system is determined based on the height of the obstacle, the first ground clearance, and the vehicle's maximum ground clearance.

[0159] The vehicle's suspension system is raised according to the target lift amount.

[0160] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is used for:

[0161] The critical distance for controlling the lifting of the vehicle's suspension system is determined based on the target lift amount, the lifting speed of the suspension system, and the vehicle's travel speed.

[0162] The system monitors the distance between the vehicle and obstacles, and raises the vehicle's suspension system when the distance is greater than or equal to a critical distance.

[0163] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is used for:

[0164] Based on the target lift amount, a lift command for the suspension system is generated and sent to the suspension system.

[0165] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is also used for:

[0166] In response to the vehicle reaching a first set distance from an obstacle, a second ground clearance around the wheel is collected based on sensors at the wheel.

[0167] Determine the minimum ground clearance from the second ground clearance around the wheel;

[0168] When the minimum ground clearance is greater than or equal to the height of the obstacle, the suspension system stops lifting.

[0169] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is also used for:

[0170] In response to the presence of at least one obstacle less than the height of the obstacle in the second ground clearance around the wheel, and in response to the vehicle being at a second set distance from the obstacle, the capacitive-inductive sensor array is activated to sense the obstacle, where the second set distance is less than the first set distance.

[0171] The vehicle is lifted by the sensor array based on the sensor data.

[0172] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is also used for:

[0173] A topographic map is constructed based on the sensing data from the capacitive and inductive sensor array;

[0174] The vehicle is lifted and compensated based on the topographic map.

[0175] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is used for:

[0176] In response to the presence of a path on the terrain map, a single wheel lift operation is performed on wheels that are lower than the height of the obstacle.

[0177] In response to the absence of a path on the terrain map, the suspension system is raised to its maximum value; and / or,

[0178] Apply emergency braking to the vehicle.

[0179] Furthermore, in one possible implementation of this application embodiment, the identification module 802 is used for:

[0180] Obtain weather condition information and determine the environmental degradation factor based on the weather condition information;

[0181] The weights of different types of sensors are determined based on environmental attenuation factors, attribute information of different types of sensors, and sensing data.

[0182] Based on the weights of different types of sensors, the heights of candidate obstacles perceived by the sensors are fused to obtain the height of the obstacle.

[0183] Furthermore, in one possible implementation of this application embodiment, the identification module 802 is further configured to:

[0184] In response to the activation of the capacitive and inductive sensor array, a compensation term is determined based on the sensing data from the capacitive and inductive sensor array.

[0185] The height of the obstacle is corrected based on the compensation.

[0186] Furthermore, in one possible implementation of this application embodiment, the obstacle avoidance module 804 is also used for:

[0187] Determine the uncertainty factors for different types of sensors;

[0188] The uncertainty factors of different types of sensors are fused to obtain the first parameter;

[0189] Based on the first parameter and the first obstacle height sensed by the sensor, sensor failure detection is performed;

[0190] In response to the detection of sensor failure, the weights of the non-failed sensors are updated, and / or the lifting speed of the suspension system is limited.

[0191] It should be noted that the foregoing explanation of the vehicle obstacle avoidance method embodiment also applies to the vehicle obstacle avoidance device of this embodiment, and will not be repeated here.

[0192] In this embodiment, when an obstacle is detected in front of the vehicle, an environmental attenuation factor is obtained based on weather information. The weight of each sensor is obtained from the inherent confidence level of the sensor, the environmental attenuation factor, and the measured height. The measured heights of the sensors are fused according to their weights to obtain a more accurate obstacle height. The vehicle's current first ground clearance is then obtained. Based on whether the first ground clearance can overcome the obstacle height, obstacle avoidance control is performed on the vehicle, making the vehicle control more flexible. When the vehicle's wheels are lifted, four-wheel lifting and differential compensation of a single wheel are used to ensure that the vehicle can successfully overcome the obstacle. At the same time, a secondary clearance verification is performed at a position closer to the obstacle. If the secondary clearance fails, the capacitive and inductive sensors are activated to replan the obstacle avoidance method, ensuring that the vehicle can safely overcome the obstacle and that the obstacle avoidance control of the vehicle can effectively overcome the obstacle, avoiding collisions or driving accidents between the vehicle and the obstacle during driving.

[0193] To implement the above embodiments, this application also proposes an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method provided in the foregoing embodiments.

[0194] To implement the above embodiments, this application also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods provided in the foregoing embodiments.

[0195] To implement the above embodiments, this application also proposes a computer program product, including a computer program that, when executed by a processor, implements the methods provided in the foregoing embodiments.

[0196] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in this application all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0197] It should be noted that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. Furthermore, such collection / sharing should only be conducted after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes authorization of relevant user information before the user uses the function. In addition, any necessary steps must be taken to protect and safeguard access to such personal information data and ensure that others with access to personal information data comply with their privacy policies and procedures.

[0198] This application is intended to provide an implementation scheme for users to selectively prevent the use or access to their personal information data. Specifically, this disclosure is intended to provide hardware and / or software to prevent or block access to such personal information data. Once personal information data is no longer needed, risks can be minimized by restricting data collection and deleting data. Furthermore, where applicable, such personal information is de-identified to protect user privacy.

[0199] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "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 this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0200] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0201] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0202] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0203] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0204] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0205] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0206] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method of obstacle avoidance for a vehicle, characterized by, The method comprises: detecting whether there is an obstacle in front of the vehicle; in response to the presence of an obstacle in front of the vehicle, determining the height of the obstacle; determining the first ground clearance of the vehicle at present; controlling the vehicle to avoid the obstacle according to the height of the obstacle and the first ground clearance.

2. The method of claim 1, wherein, The control of the vehicle to avoid the obstacle according to the height of the obstacle and the first ground clearance comprises: in response to the height of the obstacle being less than or equal to the first ground clearance, maintaining the suspension height of the vehicle; in response to the height of the obstacle being greater than the first ground clearance and less than the maximum ground clearance of the vehicle, performing a lifting operation on the suspension system of the vehicle; in response to the height of the obstacle being greater than the maximum ground clearance, planning an obstacle avoidance path for the vehicle and driving the vehicle to avoid the obstacle according to the planned obstacle avoidance path.

3. The method of claim 2, wherein, The lifting operation on the suspension system of the vehicle comprises: determining a target lifting amount of the suspension system according to the height of the obstacle, the first ground clearance and the maximum ground clearance of the vehicle; performing a lifting operation on the suspension system of the vehicle according to the target lifting amount.

4. The method of claim 3, wherein, The lifting operation on the suspension system of the vehicle according to the target lifting amount comprises: determining a critical distance for the vehicle to control the lifting of the suspension system according to the target lifting amount, the lifting speed of the suspension system and the driving speed of the vehicle; monitoring the distance between the vehicle and the obstacle, and performing a lifting operation on the suspension system of the vehicle when the distance between the vehicle and the obstacle is greater than or equal to the critical distance.

5. The method according to claim 3 or 4, characterized in that, The lifting operation on the suspension system of the vehicle according to the target lifting amount comprises: generating a lifting instruction for the suspension system according to the target lifting amount, and sending the lifting instruction to the suspension system.

6. The method according to any one of claims 2-4, characterized in that, After the lifting operation on the suspension system of the vehicle, the method further comprises: in response to the distance between the vehicle and the obstacle reaching a first set distance, collecting a second ground clearance around the wheel based on a sensor at the wheel; determining a minimum ground clearance from the second ground clearance around the wheel; in response to the minimum ground clearance being greater than or equal to the height of the obstacle, stopping the lifting operation of the suspension system.

7. The method of claim 6, wherein, The method further comprises: in response to at least one of the second ground clearance around the wheel being less than the height of the obstacle, activating a capacitive inductive sensor array to sense in response to the distance between the vehicle and the obstacle reaching a second set distance, the second set distance being less than the first set distance; performing lifting compensation on the vehicle according to the sensing data of the capacitive inductive sensor array.

8. The method of claim 7, wherein, The sensing data of the capacitive inductive sensor array is used to perform lifting compensation on the vehicle, which comprises: constructing a terrain map according to the sensing data of the capacitive inductive sensor array; performing lifting compensation on the vehicle based on the terrain map.

9. The method of claim 8, wherein, The lifting compensation on the vehicle based on the terrain map comprises: in response to the presence of a passable path in the topographic map, performing a single-wheel lifting operation on the wheel smaller than the height of the obstacle; in response to the absence of a passable path in the topographic map, controlling the suspension system to lift to a maximum value; and / or, performing an emergency brake on the vehicle.

10. The method of claim 7, wherein, The determining the height of the obstacle comprises: obtaining weather state information, and determining an environmental attenuation factor according to the weather state information; determining respective weights of different types of sensors according to the environmental attenuation factor, attribute information of the different types of sensors, and perception data of the sensors; fusing the height of the candidate obstacle perceived by the sensors based on the respective weights of the different types of sensors to obtain the height of the obstacle.

11. The method of claim 10, wherein, In a scenario where a capacitive inductive sensor array is activated, after the height of the obstacle is obtained, the method further comprises: in response to the capacitive inductive sensor array being activated, determining a compensation term according to perception data of the capacitive inductive sensor array; correcting the height of the obstacle according to the compensation term.

12. The method of claim 10, wherein, The method further comprises: determining uncertainty factors of the different types of sensors; fusing the uncertainty factors of the different types of sensors to obtain a first parameter; performing failure detection on the sensors based on the first parameter and a first obstacle height perceived by the sensors; in response to detecting that the sensors fail, updating a weight of a non-failed sensor, and / or limiting a lifting speed of the suspension system.

13. An obstacle avoidance device for a vehicle, characterized by comprises: a detection module configured to detect whether an obstacle exists in front of a vehicle; an identification module configured to determine a height of the obstacle in response to the presence of the obstacle in front of the vehicle; an acquisition module configured to determine a first ground clearance of the vehicle at present; an obstacle avoidance module configured to perform obstacle avoidance control on the vehicle according to the height of the obstacle and the first ground clearance.

14. An electronic device, comprising: comprises: a processor, and a memory connected to the processor in communication; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1-12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method according to any one of claims 1-12.

16. A computer program product, characterised in that, The computer program is executed by a processor to implement the method according to any one of claims 1-12.

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