Obstacle avoidance method and device based on radar layer switching

Abstract

The invention discloses an obstacle avoidance method and device based on radar layer switching. The method comprises the steps that after it is determined that a target vehicle enters a driving state, the driving environment where the target vehicle is located is detected, and a first detection result is obtained; when the first detection result shows that the obstacle exists in the driving environment, acquiring obstacle information of the obstacle; determining a target radar layer where the obstacle is located currently according to the obstacle information; acquiring a deceleration strategy corresponding to the target radar layer; and controlling the target vehicle to execute deceleration operation according to the deceleration strategy. According to the method and the device, the technical problems that in the related technology, once the Slam navigation vehicle detects an obstacle in a human-vehicle mixed flow environment, the Slam navigation vehicle immediately slows down or stops regardless of the distance, unnecessary long-time parking is easily caused, and the working efficiency is influenced are solved.

Description

Technical Field

[0001] This invention relates to the field of automated generation technology, and more specifically, to an obstacle avoidance method and apparatus based on radar layer switching. Background Technology

[0002] With the continuous development of automation and intelligent technologies, SLAM (Simultaneous Localization and Mapping) navigation vehicles are increasingly widely used in industrial production, logistics and transportation, public safety and other fields. SLAM navigation vehicles, through multi-sensor fusion technology such as LiDAR, visual sensors, and ultrasonic sensors, achieve real-time perception of the environment and autonomous navigation. They can autonomously plan routes in complex environments, avoid obstacles, and ensure driving safety.

[0003] However, in environments with mixed pedestrian and vehicle traffic, such as factory workshops, logistics warehouses, and airports, Slam guided vehicles face new challenges. These areas not only have static obstacles, such as shelves and walls, but also dynamic obstacles, such as pedestrians and other vehicles. Especially during busy operating periods, the appearance of obstacles is unpredictable and variable, which places higher demands on the obstacle avoidance capabilities of the guided vehicles.

[0004] Traditional obstacle avoidance methods often employ a single deceleration or stopping strategy. Once an obstacle is detected, regardless of distance, the vehicle immediately slows down or stops. While this method ensures safety, it can sometimes lead to unnecessary prolonged stops, impacting operational efficiency, especially in environments requiring frequent obstacle avoidance. Furthermore, sudden braking not only reduces passenger comfort but can also cause unnecessary impacts on the vehicle itself or its cargo.

[0005] There is currently no effective solution to the above problems. Summary of the Invention

[0006] This invention provides an obstacle avoidance method and apparatus based on radar layer switching, which at least solves the technical problem in related technologies where Slam navigation vehicles immediately decelerate or stop once they detect an obstacle in a mixed traffic environment, regardless of the distance, which can easily lead to unnecessary long-term parking and affect work efficiency.

[0007] According to one aspect of the present invention, an obstacle avoidance method based on radar layer switching is provided, comprising: after determining that a target vehicle has entered a driving state, detecting the driving environment in which the target vehicle is located to obtain a first detection result; when the first detection result indicates that an obstacle exists in the driving environment, acquiring obstacle information of the obstacle, wherein the obstacle information includes: obstacle location information, obstacle state, and relative distance; determining the target radar layer in which the obstacle is currently located based on the obstacle information, wherein the target radar layer is a layer among multiple radar layers of the radar system of the target vehicle, the multiple radar layers are layers corresponding to multiple sets of radar sequences of the radar system, and the multiple sets of radar sequences are radar sequences set according to the detection range in the radar system; acquiring a deceleration strategy corresponding to the target radar layer; and controlling the target vehicle to perform a deceleration operation according to the deceleration strategy.

[0008] Optionally, before detecting the driving environment of the target vehicle and obtaining the first detection result, the obstacle avoidance method further includes: acquiring the driving speed of the target vehicle, the driving environment, and the predicted obstacle appearance pattern; and setting the detection range of each layer of the radar sequence in the radar system according to the driving speed, the driving environment, and the predicted obstacle appearance pattern, so as to define the radar layer range of the multiple sets of radar sequences.

[0009] Optionally, after defining the radar layer range of the multiple sets of radar sequences by setting the detection range of each layer of the radar sequence in the radar system according to the driving speed, the driving environment and the predicted obstacle appearance pattern, the obstacle avoidance method further includes: determining the switching logic between the multiple sets of radar sequences according to the obstacle distance between the target vehicle and the obstacle, the driving speed and the current state of the target vehicle.

[0010] Optionally, detecting the driving environment where the target vehicle is located to obtain a first detection result includes: detecting the driving environment at different distance ranges using the multiple sets of radar sequences to obtain detection information in multiple radar layers; and integrating the detection information to obtain the first detection result.

[0011] Optionally, determining the target radar layer where the obstacle is currently located based on the obstacle information includes: matching the obstacle information with a preset judgment rule to obtain a matching result, wherein the preset judgment rule is a pre-set condition that the obstacle must meet in each radar layer; and determining the target radar layer where the obstacle is currently located based on the matching result.

[0012] Optionally, the plurality of radar layers includes: a long-range radar layer, a medium-range radar layer, and a short-range radar layer. The long-range radar layer corresponds to a region within a first distance range in front of the target vehicle, the medium-range radar layer corresponds to a region within a second distance range in front of the target vehicle, and the short-range radar layer corresponds to a region within a third distance range in front of the target vehicle. The first distance range is longer than the second distance, and the second distance is longer than the third distance. Obtaining a deceleration strategy corresponding to the target radar layer includes: when the target radar layer is the long-range radar layer, obtaining the driving speed of the target vehicle; when the driving speed is greater than a speed threshold, determining a first acceleration of the target vehicle through a first deceleration function, and determining the deceleration strategy as: linear deceleration based on the first acceleration, wherein the first deceleration function is: , This indicates the first acceleration. This indicates the driving speed. This represents the speed threshold. This represents a proportionality coefficient; when the driving speed is not greater than a speed threshold, the driving speed of the target vehicle continues to be monitored.

[0013] Optionally, obtaining the deceleration strategy corresponding to the target radar layer includes: when the target radar layer is the mid-range radar layer, determining the second acceleration of the target vehicle through a second deceleration function, and determining the deceleration strategy as: exponential deceleration based on the second acceleration, wherein the second deceleration function is: , This indicates the second acceleration. This represents the maximum deceleration of the target vehicle. This indicates the relative distance between the obstacle and the target vehicle. Indicates distance sensitivity.

[0014] Optionally, obtaining the deceleration strategy corresponding to the target radar layer includes: when the target radar layer is the short-range radar layer, determining the third acceleration of the target vehicle through a third deceleration function, and determining the deceleration strategy as: performing segmented deceleration based on the third acceleration, wherein the third deceleration function is: , This refers to the third acceleration. Indicates the maximum deceleration in an emergency. Indicates the critical safety distance.

[0015] According to another aspect of the present invention, an obstacle avoidance device based on radar layer switching is also provided, comprising: a detection unit, configured to detect the driving environment of the target vehicle after determining that the target vehicle has entered a driving state, and obtain a first detection result; a first acquisition unit, configured to acquire obstacle information of the obstacle when the first detection result indicates that there is an obstacle in the driving environment, wherein the obstacle information includes: obstacle position information, obstacle state, and relative distance; a first determination unit, configured to determine the target radar layer where the obstacle is currently located based on the obstacle information, wherein the target radar layer is a layer among multiple radar layers of the radar system of the target vehicle, the multiple radar layers are layers corresponding to multiple sets of radar sequences of the radar system, and the multiple sets of radar sequences are radar sequences set according to the detection range in the radar system; a second acquisition unit, configured to acquire a deceleration strategy corresponding to the target radar layer; and a control unit, configured to control the target vehicle to perform a deceleration operation according to the deceleration strategy.

[0016] Optionally, the obstacle avoidance device further includes: a third acquisition unit, configured to acquire the driving speed of the target vehicle, the driving environment, and the predicted obstacle appearance pattern before detecting the driving environment where the target vehicle is located and obtaining the first detection result; and a setting unit, configured to set the detection range of each layer of the radar sequence in the radar system according to the driving speed, the driving environment, and the predicted obstacle appearance pattern, so as to define the radar layer range of the multiple sets of radar sequences.

[0017] Optionally, the obstacle avoidance device further includes: a second determining unit, configured to, after setting the detection range of each layer of the radar sequence in the radar system according to the driving speed, the driving environment and the predicted obstacle appearance pattern to define the radar layer range of the multiple sets of radar sequences, determine the switching logic between the multiple sets of radar sequences according to the obstacle distance between the target vehicle and the obstacle, the driving speed and the current state of the target vehicle.

[0018] Optionally, the detection unit includes: a detection module, used to detect the driving environment at different distance ranges using the multiple sets of radar sequences to obtain detection information in multiple radar layers; and an integration module, used to integrate the detection information to obtain the first detection result.

[0019] Optionally, the first determining unit includes: a matching module, configured to match the obstacle information with a preset judgment rule to obtain a matching result, wherein the preset judgment rule is a pre-set condition that the obstacle needs to meet in each of the radar layers; and a first determining module, configured to determine the target radar layer where the obstacle is currently located based on the matching result.

[0020] Optionally, the second acquisition unit includes: an acquisition module, configured to acquire the driving speed of the target vehicle when the target radar layer is the long-range radar layer; and a second determination module, configured to determine a first acceleration of the target vehicle using a first deceleration function when the driving speed is greater than a speed threshold, and to determine the deceleration strategy as: linear deceleration based on the first acceleration, wherein the first deceleration function is: , This indicates the first acceleration. This indicates the driving speed. This represents the speed threshold. This represents a scaling factor; the monitoring module is used to continue monitoring the driving speed of the target vehicle when the driving speed is not greater than a speed threshold. The multiple radar layers include: a long-range radar layer, a medium-range radar layer, and a short-range radar layer. The long-range radar layer corresponds to a region within a first distance range in front of the target vehicle, the medium-range radar layer corresponds to a region within a second distance range in front of the target vehicle, and the short-range radar layer corresponds to a region within a third distance range in front of the target vehicle. The first distance range is greater than the second distance, and the second distance is greater than the third distance. A deceleration strategy corresponding to the target radar layer is obtained.

[0021] Optionally, the second determining module includes: a first determining submodule, configured to, when the target radar layer is the mid-range radar layer, determine the second acceleration of the target vehicle through a second deceleration function, and determine the deceleration strategy as: exponential deceleration based on the second acceleration, wherein the second deceleration function is: , This indicates the second acceleration. This represents the maximum deceleration of the target vehicle. This indicates the relative distance between the obstacle and the target vehicle. Indicates distance sensitivity.

[0022] Optionally, the second determining module includes: a second determining submodule, configured to, when the target radar layer is the short-range radar layer, determine the third acceleration of the target vehicle through a third deceleration function, and determine the deceleration strategy as: segmented deceleration based on the third acceleration, wherein the third deceleration function is: , This refers to the third acceleration. Indicates the maximum deceleration in an emergency. Indicates the critical safety distance.

[0023] According to one aspect of the present invention, a navigation vehicle is provided, the navigation vehicle using the obstacle avoidance method based on radar layer switching as described above.

[0024] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the obstacle avoidance method based on radar layer switching as described in any one of the above embodiments.

[0025] According to one aspect of the present invention, a processor is provided for running a program, wherein the program executes the obstacle avoidance method based on radar layer switching as described above.

[0026] According to one aspect of the present invention, a computer program product is provided, including computer instructions, which, when executed by a processor, perform the obstacle avoidance method based on radar layer switching as described above.

[0027] In this embodiment of the invention, after determining that the target vehicle has entered a driving state, the driving environment in which the target vehicle is located is detected to obtain a first detection result; when the first detection result indicates that there is an obstacle in the driving environment, obstacle information is obtained, wherein the obstacle information includes: obstacle location information, obstacle state, and relative distance; the target radar layer in which the obstacle is currently located is determined based on the obstacle information, wherein the target radar layer is a layer among multiple radar layers of the target vehicle's radar system, the multiple radar layers are layers corresponding to multiple sets of radar sequences in the radar system, and the multiple sets of radar sequences are radar sequences set according to the detection range in the radar system; a deceleration strategy corresponding to the target radar layer is obtained; and the target vehicle is controlled to perform a deceleration operation according to the deceleration strategy. The above technical solution achieves the goal of enabling SLAM navigation vehicles to monitor obstacles at different distances by switching radar layers when operating in complex environments, and to adopt different deceleration or stopping strategies based on the radar layer in which the obstacle is located. This realizes the technical effect of reducing unnecessary stops and sudden braking by switching different radar layers and intelligently controlling vehicle speed, optimizing vehicle driving conditions, and significantly improving the operating efficiency and safety of SLAM navigation vehicles in complex environments. In addition, it solves the technical problem in related technologies where SLAM navigation vehicles immediately decelerate or stop once an obstacle is detected in a mixed traffic environment, regardless of the distance, which can easily lead to unnecessary long-term stops and affect work efficiency. Attached Figure Description

[0028] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0029] Figure 1 This is a hardware structure block diagram of a mobile terminal based on a radar layer switching obstacle avoidance method according to an embodiment of the present invention.

[0030] Figure 2 This is a flowchart of an obstacle avoidance method based on radar layer switching according to an embodiment of the present invention;

[0031] Figure 3 This is a flowchart of an optional obstacle avoidance method based on radar layer switching according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of an obstacle avoidance device based on radar layer switching according to an embodiment of the present invention.

[0033] The above figures include the following reference numerals:

[0034] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] As described in the background section, in related technologies, Slam-guided vehicles will immediately slow down or stop once they detect an obstacle, regardless of its distance, which can easily lead to unnecessary long-term stops and affect operational efficiency.

[0038] To address the aforementioned issues and improve the obstacle avoidance efficiency and safety of SLAM-guided vehicles in mixed pedestrian and vehicle traffic areas, a more intelligent obstacle avoidance method is needed. This method should minimize travel time losses due to obstacle avoidance without sacrificing safety, while avoiding frequent sudden braking and improving vehicle stability and passenger comfort. Based on this, an obstacle avoidance method based on radar layer switching has been proposed. By dynamically adjusting the radar detection range and vehicle response strategy, it achieves accurate obstacle identification and reasonable obstacle avoidance.

[0039] That is, the embodiments of the present invention provide an obstacle avoidance method and device based on radar layer switching, a navigation vehicle, a computer-readable storage medium, a processor, and a computer program product.

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0041] The methods and embodiments provided in this invention can be executed on a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal using a radar layer switching obstacle avoidance method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0042] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the obstacle avoidance method based on radar layer switching in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0043] Example 1

[0044] According to an embodiment of the present invention, a method embodiment of an obstacle avoidance method based on radar layer switching is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0045] Figure 2 This is a flowchart of an obstacle avoidance method based on radar layer switching according to an embodiment of the present invention, such as... Figure 2 As shown, the method includes the following steps:

[0046] Step S202: After determining that the target vehicle has entered the driving state, the driving environment in which the target vehicle is located is detected to obtain the first detection result.

[0047] Optionally, the target vehicle mentioned above can be a SLAM navigation vehicle; of course, it can also be other vehicles, without specific limitations.

[0048] It should be noted that, in this embodiment of the invention, a Slam navigation vehicle is used as an example for explanation.

[0049] In this embodiment, a radar layer is first defined. When the vehicle starts, the system scans the surrounding environment using long-range, medium-range, and short-range radar layers. The definition of the radar layer determines the accuracy and response speed of subsequent control.

[0050] This method utilizes the interaction between electromagnetic waves emitted by radar and reflections from environmental objects. The system can receive and analyze the reflected signals to construct a real-time image of the environment surrounding the target vehicle. In particular, the system can identify and locate obstacles, determine their distance, direction, and speed relative to the vehicle, and thus form the initial detection result.

[0051] By implementing this control method, a precise description of the target vehicle's surrounding environment can be generated in real time. This is equivalent to equipping the vehicle with "intelligent eyes," enabling it to "see" surrounding obstacles and their dynamics. The initial detection results not only include the presence or absence of obstacles but also provide crucial information such as the obstacle's specific location, movement trend, and relative speed to the vehicle. This environmental perception significantly enhances vehicle safety because it allows the vehicle to anticipate potential risks rather than reacting only when obstacles approach a dangerous distance.

[0052] Step S204: When the first detection result indicates that there is an obstacle in the driving environment, obtain obstacle information of the obstacle, wherein the obstacle information includes: obstacle location information, obstacle status and relative distance.

[0053] In this embodiment, after the vehicle enters normal driving mode, the system begins to detect obstacles in the environment in real time. This stage mainly relies on data from the radar layer to determine the position, speed, and distance of obstacles.

[0054] This method builds upon the initial detection results obtained from previous environmental monitoring, further analyzing and extracting specific obstacle information. Once the system determines the presence of an obstacle in the driving environment, it utilizes the analytical capabilities of radar data to perform detailed obstacle localization and status assessment. The obstacle's position information is calculated using the time difference and angle information of the radar reflection signal, enabling the determination of the obstacle's precise coordinates relative to the vehicle. The obstacle's status includes whether it is a moving obstacle and its direction and speed of movement, a determination based on the Doppler effect of the radar signal and positional changes during continuous scanning. The relative distance is the straight-line distance between the obstacle and the vehicle, used to quickly assess the obstacle's proximity.

[0055] By implementing this control method, Slam guided vehicles can be provided with specific and in-depth obstacle information, enabling them to more accurately assess risks and take appropriate obstacle avoidance measures. It not only confirms the existence of obstacles but also reveals their type (stationary or moving), location, and approach speed—information crucial for the vehicle to plan obstacle avoidance paths. For example, for stationary obstacles, the system may choose to detour or slow down to a stop; while for moving obstacles, especially fast-moving objects, the system may immediately apply emergency braking to avoid a collision.

[0056] Step S206: Determine the target radar layer where the obstacle is currently located based on the obstacle information. The target radar layer is a layer among multiple radar layers of the radar system of the target vehicle. The multiple radar layers are layers corresponding to multiple sets of radar sequences in the radar system. The multiple sets of radar sequences are radar sequences set according to the detection range in the radar system.

[0057] In this embodiment, if the vehicle is in normal operating condition, the system continues obstacle detection to determine the radar layer in which the obstacle is located. Obstacle radar layer determination: The system can determine which radar layer the obstacle is located in using radar data.

[0058] This method utilizes the layered detection capabilities of multi-level radar. The radar system of a Slam-guided vehicle typically consists of multiple radar sequences arranged according to their detection range, forming three radar layers: long-range, medium-range, and short-range. Each layer corresponds to a different response strategy. The system locates the obstacle to the most suitable radar layer by comparing the relative distance between the obstacle and the vehicle. This localization process is dynamic; as the obstacle approaches the vehicle, its layer transitions from a long-range layer to medium-range and short-range layers. This ensures that the system can invoke appropriate obstacle avoidance strategies based on the obstacle's real-time position, providing timely and layered responses.

[0059] By implementing this control method, the intelligence and precision of the vehicle obstacle avoidance strategy are enhanced. By accurately assigning obstacles to the current target radar layer, the system can instantly invoke obstacle avoidance measures matching that layer. Whether it's slight deceleration, acceleration / deceleration, or emergency braking, it can react most appropriately based on the obstacle's real-time position and state. This layer-based dynamic adjustment avoids overreacting when obstacles are detected at a distance, such as unnecessary stopping, while also ensuring rapid emergency deceleration when obstacles enter a short-range layer, effectively preventing collisions.

[0060] Step S208: Obtain the deceleration strategy corresponding to the target radar layer.

[0061] In this embodiment, determining which radar layer the obstacle is located on will determine the subsequent deceleration or stopping decision.

[0062] In this method, the radar system of the Slam-guided vehicle is pre-configured with multiple radar sequences divided according to detection range. Each sequence is responsible for monitoring obstacles within a specific area, and these sequences together constitute multiple layers of the radar system. Once the radar layer in which the obstacle is located is determined, the most suitable deceleration strategy is selected from a pre-set strategy library based on the characteristics of that layer and the state of the obstacle. This process often comprehensively considers the distance to the obstacle, the vehicle's current speed, and the expected braking effect to ensure that the selected strategy can guarantee both safety and efficiency.

[0063] By implementing this control method, the Slam guided vehicle can apply the most appropriate deceleration or braking when encountering obstacles, effectively avoiding collisions and reducing time wasted due to excessive braking. By associating specific deceleration strategies with each radar layer, the system can achieve graded responses to obstacles, automatically adjusting the vehicle's driving state according to the threat level of the obstacle. This strategy not only improves vehicle operational safety but also ensures that all possible obstacle situations can be addressed with minimal disruption to the production process.

[0064] Step S210: Control the target vehicle to perform deceleration operation according to the deceleration strategy.

[0065] In this embodiment, if the vehicle is traveling too fast, the system will activate the deceleration mechanism in advance.

[0066] This method relies on the vehicle's dynamics model and real-time control system. In principle, it changes the vehicle's speed by adjusting the motor's output torque, activating the braking system, or a combination of both. The system sends commands to the vehicle's drive unit, instructing it to reduce power output or directly apply pressure to the braking device to decelerate the vehicle. Precise control of this process benefits from the closed-loop feedback mechanism in modern vehicle control systems. By continuously monitoring the deviation between the vehicle's actual speed and the desired speed, it adjusts the torque or braking force to ensure the vehicle decelerates stably and smoothly according to the deceleration strategy.

[0067] By implementing this control method, the target vehicle can precisely execute deceleration operations according to a pre-determined optimal deceleration strategy, thereby effectively reducing potential safety risks. By dynamically adjusting vehicle speed, the system can adopt the most appropriate speed control scheme when facing different types of obstacles. Whether it's slow deceleration to avoid distant obstacles or emergency braking to avoid an impending collision, it achieves both safety and economy. This precise control not only protects the safety of the vehicle and surrounding personnel but also reduces energy loss and passenger discomfort caused by improper deceleration or sudden braking. More importantly, it maintains the orderly flow of the production site, avoids unnecessary stops and waits, and improves the efficiency and continuity of the entire logistics or transportation process.

[0068] Figure 3 This is a flowchart of an optional obstacle avoidance method based on radar layer switching according to an embodiment of the present invention, such as... Figure 3 As shown, this logic first sets up the radar layer and allows the vehicle to operate normally. Then, it uses radar to detect the long, medium, and short distance layers to which obstacles belong, and then executes differentiated braking strategies based on different layers and real-time vehicle speed. If the obstacle is in the long distance layer, the vehicle slows down if the speed is too high, and directly enters the medium distance layer if the speed is too low. If it is in the medium distance layer, the vehicle slows down and stops if the speed is too high, and directly slows down and stops if the speed is too low. If it is in the short distance layer, a rapid deceleration and stopping operation is performed regardless of the vehicle speed. The overall logic gradually increases the braking intensity from far to near, realizing hierarchical safety control based on obstacle distance and vehicle speed, ensuring the safe operation of the vehicle in complex environments, and minimizing the impact on production efficiency.

[0069] As described above, in this embodiment, after determining that the target vehicle has entered a driving state, the driving environment in which the target vehicle is located is detected to obtain a first detection result. When the first detection result indicates that there is an obstacle in the driving environment, obstacle information is obtained, including obstacle location information, obstacle state, and relative distance. The target radar layer in which the obstacle is currently located is determined based on the obstacle information. The target radar layer is a layer among multiple radar layers of the target vehicle's radar system. The multiple radar layers are layers corresponding to multiple sets of radar sequences in the radar system. The multiple sets of radar sequences are radar sequences set according to the detection range in the radar system. A deceleration strategy corresponding to the target radar layer is obtained. The target vehicle is controlled to perform a deceleration operation according to the deceleration strategy. This achieves the technical effect of the Slam navigation vehicle monitoring obstacles at different distances by switching radar layers when running in complex environments, and taking different deceleration or stopping strategies according to the radar layer in which the obstacle is located. This realizes the technical effect of reducing unnecessary stops and emergency braking by switching different radar layers and intelligently controlling vehicle speed, optimizing vehicle driving conditions, and significantly improving the operating efficiency and safety of the Slam navigation vehicle in complex environments.

[0070] Therefore, the technical solution provided by the above embodiments of the present invention solves the technical problem in the related art that when a Slam navigation vehicle detects an obstacle in a mixed traffic environment, it will immediately slow down or stop, regardless of the distance, which can easily lead to unnecessary long-term parking and affect work efficiency.

[0071] According to the above embodiments of the present invention, before detecting the driving environment in which the target vehicle is located and obtaining the first detection result, the obstacle avoidance method further includes: acquiring the driving speed of the target vehicle, the driving environment, and the predicted obstacle appearance pattern; and setting the detection range of each radar sequence in the radar system according to the driving speed, the driving environment, and the predicted obstacle appearance pattern, so as to define the radar layer range of multiple sets of radar sequences.

[0072] In this embodiment, before activating the obstacle avoidance method, the radar system parameters are individually adjusted to adapt to the specific driving conditions of the target vehicle and the possible obstacle appearance patterns.

[0073] This method first collects the target vehicle's speed, the characteristics of the current driving environment, and the predicted obstacle occurrence patterns obtained from historical data analysis. Then, based on this information, it intelligently adjusts the detection range of each radar sequence layer in the radar system, defining the coverage boundaries of different radar layers to ensure the radar can capture effective information at the most critical moments. This adjustment process utilizes machine learning algorithms to dynamically optimize the radar layer settings based on the target vehicle's speed, the openness or closedness of the driving environment, and the common types and frequency of obstacles, making radar detection more targeted and efficient.

[0074] By implementing this control method, the perception and obstacle avoidance capabilities of the Slam-guided vehicle in complex environments have been significantly improved. Specifically, it enables the radar system to detect obstacles promptly and accurately, whether the vehicle is traveling at high speed or moving at low speed through narrow spaces, avoiding missed detections or false alarms that might occur due to a fixed detection range that is not adapted to actual driving conditions.

[0075] According to the above embodiments of the present invention, after setting the detection range of each radar sequence in the radar system according to the driving speed, driving environment and predicted obstacle appearance pattern to define the radar layer range of multiple radar sequences, the obstacle avoidance method further includes: determining the switching logic between multiple radar sequences according to the obstacle distance between the target vehicle and the obstacle, the driving speed and the current state of the target vehicle.

[0076] In this embodiment, the switching logic between multiple radar sequences is intelligently formulated based on the real-time distance between the target vehicle and the obstacle, the vehicle's current speed, and the vehicle's status (such as steering angle, acceleration, etc.).

[0077] In this method, the system monitors these variables in real time to assess the approach speed and threat level of obstacles, thereby dynamically deciding when to switch from one radar sequence to another to optimize obstacle detection accuracy and response time. This switching logic is designed to fully consider the vehicle's own motion state and the dynamic characteristics of obstacles, enabling the radar system to prioritize the long-range radar layer when obstacles are at a long distance, switch to the medium-range radar layer at medium distances, and immediately activate the short-range or emergency radar layer in case of an emergency at a short distance.

[0078] By implementing this control method, on the one hand, the Slam navigation vehicle's sensitivity and response speed to obstacles are improved, ensuring that the vehicle can make timely and effective obstacle avoidance actions when facing various obstacles; on the other hand, it optimizes the use of radar resources, avoids unnecessary energy waste, extends vehicle operating time and reduces maintenance costs.

[0079] According to the above embodiments of the present invention, detecting the driving environment in which the target vehicle is located and obtaining a first detection result includes: detecting the driving environment at different distance ranges through multiple sets of radar sequences to obtain detection information in multiple radar layers; and integrating the detection information to obtain the first detection result.

[0080] In this embodiment, multiple radar sequences mounted on the Slam navigation vehicle are used to form a multi-layered perception network to perform comprehensive and detailed detection of the vehicle's surrounding environment.

[0081] This method collects radar signals across long, medium, and short ranges, with each radar sequence focusing on a specific detection area, forming independent yet complementary radar layers to capture diverse information about obstacles in the environment. Subsequently, the system employs advanced information fusion technology to organize and analyze this detection information from different layers, constructing a comprehensive environmental model. This model not only includes the basic location information of obstacles but also reflects their speed, shape, and even potential behavioral trends. During information integration, the system eliminates redundant data, unifies the coordinate system, and ensures that information acquired from multiple perspectives can work collaboratively, ultimately yielding a consistent and reliable first detection result—a complete depiction of the vehicle's surrounding environment, including both static obstacles and dynamic objects.

[0082] By implementing this control method, the Slam navigation vehicle's perception of its surroundings and the accuracy of its decision-making have been significantly improved. Through multi-layered radar detection and information integration, the system can provide early warnings and in-depth recognition of obstacles, even fast-moving objects or small obstacles in complex scenarios can be detected in a timely manner. This detailed initial detection provides a solid foundation for the formulation of subsequent obstacle avoidance strategies, enabling the vehicle to take the most appropriate actions based on the type and state of the obstacle, such as adjusting speed, changing lanes, or making emergency stops, effectively avoiding the risk of collision. Furthermore, due to the use of multi-angle and multi-distance perception, high detection quality is maintained even in adverse weather or low-light conditions, ensuring safe driving under various conditions.

[0083] According to the above embodiments of the present invention, determining the target radar layer where the obstacle is currently located based on obstacle information includes: matching the obstacle information with a preset judgment rule to obtain a matching result, wherein the preset judgment rule is a pre-set condition that the obstacle must meet in each radar layer; and determining the target radar layer where the obstacle is currently located based on the matching result.

[0084] In this embodiment, if the vehicle is in the long-range radar layer and the obstacle is at a long distance, the system will take initial deceleration measures based on the vehicle speed; if the vehicle is in the medium-range radar layer and the obstacle is approaching, the system will take further acceleration and deceleration measures based on the vehicle speed; if the vehicle is in the short-range radar layer and the obstacle is very close, the system will activate the emergency stop mechanism.

[0085] In this method, the system compares and matches detection information obtained from multiple radar sequences with a set of pre-defined judgment rules based on vehicle safety requirements, radar performance parameters, and obstacle attributes (such as size, speed, and distance). These judgment rules are essentially a classification standard that clarifies which obstacle information features correspond to different radar layers. For example, if an obstacle is far from the vehicle, its reflected signal strength and echo time meet the judgment criteria for the long-range radar layer; conversely, if the obstacle is very close, these features will cause the system to classify it as a short-range radar layer.

[0086] By implementing this control method, the Slam-guided vehicle's real-time response to obstacles and decision-making efficiency are greatly enhanced, ensuring safe driving in various environments. Specifically, by quickly locating obstacles on the target radar layer, the system can immediately invoke corresponding obstacle avoidance strategies based on the obstacle's real-time position and threat level, such as adjusting vehicle speed or planning detours. This real-time response significantly shortens the time lag between obstacle detection and obstacle avoidance strategy implementation, reducing potential collision risks. Simultaneously, due to the intelligent design of the decision rules, the system can prioritize and handle obstacles that pose a direct threat to the vehicle, avoiding excessive focus on distant, insignificant obstacles, thereby ensuring smooth vehicle operation and continuous task execution.

[0087] According to the above embodiments of the present invention, multiple radar layers include: a long-range radar layer, a medium-range radar layer, and a short-range radar layer. The long-range radar layer corresponds to a region within a first distance range in front of the target vehicle, the medium-range radar layer corresponds to a region within a second distance range in front of the target vehicle, and the short-range radar layer corresponds to a region within a third distance range in front of the target vehicle. The first distance range is longer than the second distance, and the second distance is longer than the third distance. Obtaining a deceleration strategy corresponding to the target radar layer includes: when the target radar layer is a long-range radar layer, obtaining the driving speed of the target vehicle; when the driving speed is greater than a speed threshold, determining a first acceleration of the target vehicle through a first deceleration function, and determining the deceleration strategy as: linear deceleration based on the first acceleration, wherein the first deceleration function is: , Indicates the first acceleration. Indicates driving speed. Indicates the speed threshold. This indicates a proportionality coefficient; when the driving speed is not greater than the speed threshold, the driving speed of the target vehicle continues to be monitored.

[0088] In this embodiment, when the obstacle is at a long distance, the vehicle system first checks the current vehicle speed. If the speed is too high, exceeding a safety threshold, the system triggers a deceleration function to gradually reduce the speed and maintain a safe driving state. If the speed is normal or slow, the system continues to monitor the speed and waits to enter the mid-range radar layer for further judgment.

[0089] In this method, the system first matches obstacle information with preset judgment rules to determine the radar layer in which the obstacle currently resides, such as a long-range, medium-range, or short-range layer. For obstacles in the long-range radar layer, the system first reads the target vehicle's speed to determine whether a deceleration mechanism needs to be activated. If the speed exceeds a preset speed threshold... This means the vehicle needs to slow down in advance to avoid potential risks. At this time, the system uses the first deceleration function. The function calculates the required initial acceleration to guide the vehicle into linear deceleration. It is designed to allow the vehicle to decelerate in a controlled and smooth manner. Adjusting the coefficient allows the system to flexibly control the deceleration force according to actual needs. When the driving speed is below or equal to the speed threshold, the system continues to monitor without immediately implementing a deceleration strategy, thus avoiding unnecessary speed loss and maintaining vehicle operating efficiency.

[0090] By implementing this control method, the Slam-guided vehicle achieves a hierarchical response to obstacles ahead, ensuring both safety and operational efficiency. Specifically, by applying appropriate deceleration to high-speed vehicles at long-range radar layers, the system effectively prevents potential collision risks in advance, ensuring the safety of the vehicle and its occupants. Simultaneously, the application of a linear deceleration strategy minimizes passenger discomfort during deceleration, enhancing the riding experience.

[0091] According to the above embodiments of the present invention, obtaining a deceleration strategy corresponding to a target radar layer includes: when the target radar layer is a medium-range radar layer, determining the second acceleration of the target vehicle through a second deceleration function, and determining the deceleration strategy as: performing exponential deceleration based on the second acceleration, wherein the second deceleration function is: , Indicates the second acceleration. This represents the maximum deceleration of the target vehicle. Indicates the relative distance between the obstacle and the target vehicle. Indicates distance sensitivity.

[0092] In this embodiment, when an obstacle approaches within a medium distance range, the vehicle needs to further decelerate. If the vehicle speed is high, the system will take stronger deceleration measures and prepare to stop if necessary; if the vehicle speed is moderate or slow, the system will adjust the speed appropriately to ensure a proper distance; at the medium-range radar layer, the vehicle uses exponential deceleration, with the deceleration force gradually increasing as the distance decreases.

[0093] This method utilizes a second deceleration function The second acceleration of the target vehicle is determined to serve as the basis for obstacle avoidance strategies within the medium distance range. The design concept of the second deceleration function is that it adjusts according to the relative distance between the obstacle and the target vehicle. The reduction in acceleration, i.e., the deceleration force the vehicle should take, is the second acceleration. It will increase exponentially until it reaches its maximum deceleration. Distance sensitivity here The parameter reflects the vehicle's sensitivity to the speed at which an obstacle approaches, and it can be adjusted according to the target vehicle's performance characteristics and safety requirements.

[0094] By implementing this control method, the Slam-guided vehicle's real-time obstacle avoidance capability when facing obstacles is significantly improved. Specifically, as the distance between the obstacle and the vehicle decreases, the vehicle can take increasingly stronger deceleration measures, which not only effectively avoids the risk of collision but also reduces the impact and discomfort caused by emergency stopping.

[0095] According to the above embodiments of the present invention, obtaining a deceleration strategy corresponding to a target radar layer includes: when the target radar layer is a short-range radar layer, determining the third acceleration of the target vehicle through a third deceleration function, and determining the deceleration strategy as: performing segmented deceleration based on the third acceleration, wherein the third deceleration function is: , Indicates the third acceleration. Indicates the maximum deceleration in an emergency. Indicates the critical safety distance.

[0096] In this embodiment, when an obstacle enters within short distance, the vehicle must respond immediately, rapidly decelerating or stopping. In case of an emergency, if a stationary obstacle or a rapidly approaching vehicle is detected ahead, the system will trigger emergency braking. In this situation, the system will decelerate rapidly and at full speed to ensure the vehicle stops in time to avoid a collision. The deceleration function is a segmented emergency braking function; at the short-range radar layer, the vehicle will use segmented emergency braking, immediately triggering maximum deceleration to ensure safety.

[0097] This method uses a third deceleration function This allows for precise braking control in emergency situations. The core of this segmented deceleration strategy is based on the relative distance between the obstacle and the target vehicle. Two different acceleration control methods are employed. When the distance is less than the critical safety distance... At that moment, the system immediately triggers emergency braking, applying the maximum emergency deceleration. Apply the brakes to ensure the vehicle stops quickly to avoid the risk of a collision. When the distance is greater than or equal to... At that time, the system adopts gradual deceleration, according to The acceleration formula is used to adjust the vehicle speed, here This represents the distance sensitivity during braking, ensuring that the vehicle can safely avoid obstacles while minimizing the need for drastic emergency braking.

[0098] By implementing this control method, the Slam guided vehicle can quickly and appropriately take obstacle avoidance measures when encountering obstacles within a short distance, minimizing the risk of collision. In practical applications, this is achieved by precisely implementing emergency maximum deceleration. The vehicle can rapidly decelerate to a stop within a short time, reacting quickly to stationary or suddenly appearing obstacles. Simultaneously, when the distance to an obstacle is slightly greater than the critical safety distance, the gradual deceleration strategy allows for a smoother braking process, reducing potential damage to cargo and equipment inside the vehicle from sudden stops, while also considering the passenger and operator comfort.

[0099] As described above, the technical solution provided by the embodiments of the present invention employs a layered detection and graded response mechanism to ensure that the vehicle can make the most appropriate response under different distances and speeds. From smooth deceleration over long distances to gradual stopping over medium distances, and then to emergency braking over short distances, the system can make reasonable judgments and controls according to the actual situation. By using different deceleration functions, the vehicle can ensure driving safety and stability in various complex traffic scenarios.

[0100] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0101] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0102] Example 2

[0103] According to embodiments of the present invention, a radar layer-switching-based obstacle avoidance device is also provided for implementing the above-described radar layer-switching-based obstacle avoidance method. Figure 4 This is a schematic diagram of an obstacle avoidance device based on radar layer switching according to an embodiment of the present invention, such as... Figure 4 As shown, the device includes: a detection unit 401, a first acquisition unit 403, a first determination unit 405, a second acquisition unit 407, and a control unit 409. The device will now be described in detail.

[0104] The detection unit 401 is used to detect the driving environment of the target vehicle after determining that the target vehicle has entered the driving state, and obtain the first detection result.

[0105] The first acquisition unit 403 is used to acquire obstacle information of the obstacle when the first detection result indicates that there is an obstacle in the driving environment. The obstacle information includes obstacle location information, obstacle state, and relative distance.

[0106] The first determining unit 405 is used to determine the target radar layer where the obstacle is currently located based on the obstacle information. The target radar layer is a layer among multiple radar layers of the radar system of the target vehicle. The multiple radar layers are layers corresponding to multiple sets of radar sequences in the radar system. The multiple sets of radar sequences are radar sequences set according to the detection range in the radar system.

[0107] The second acquisition unit 407 is used to acquire the deceleration strategy corresponding to the target radar layer.

[0108] Control unit 409 is used to control the target vehicle to perform deceleration operation according to the deceleration strategy.

[0109] It should be noted that the detection unit 401, the first acquisition unit 403, the first determination unit 405, the second acquisition unit 407 and the control unit 409 mentioned above correspond to steps S202 to S210 in the above embodiments. The five units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0110] As can be seen from the above, in the solution described in the above embodiments of the present invention, a detection unit can be used to detect the driving environment of the target vehicle after determining that the target vehicle has entered the driving state, and obtain a first detection result; a first acquisition unit can be used to acquire obstacle information of the obstacle when the first detection result indicates that there is an obstacle in the driving environment, wherein the obstacle information includes: obstacle position information, obstacle state, and relative distance; a first determination unit can be used to determine the target radar layer where the obstacle is currently located based on the obstacle information, wherein the target radar layer is a layer among multiple radar layers of the radar system of the target vehicle, and the multiple radar layers correspond to multiple sets of radar sequences of the radar system. The radar system consists of multiple radar layers and multiple radar sequences set according to the detection range. A second acquisition unit is used to acquire the deceleration strategy corresponding to the target radar layer. A control unit is used to control the target vehicle to perform deceleration operations according to the deceleration strategy. This achieves the goal of the Slam navigation vehicle monitoring obstacles at different distances by switching radar layers in complex environments, and adopting different deceleration or stopping strategies based on the radar layer in which the obstacle is located. This intelligent control of vehicle speed through switching different radar layers reduces unnecessary stops and sudden braking, optimizes vehicle driving conditions, and significantly improves the operating efficiency and safety of the Slam navigation vehicle in complex environments.

[0111] Therefore, the technical solution provided by the above embodiments of the present invention solves the technical problem in the related art where Slam navigation vehicles, in environments with mixed pedestrian and vehicle traffic, will immediately decelerate or stop once an obstacle is detected, regardless of its distance, which can easily lead to unnecessary long-term stops and affect operational efficiency. Optionally, the obstacle avoidance device further includes: a third acquisition unit, used to acquire the target vehicle's driving speed, driving environment, and predicted obstacle appearance pattern before detecting the driving environment of the target vehicle and obtaining the first detection result; and a setting unit, used to set the detection range of each radar sequence in the radar system according to the driving speed, driving environment, and predicted obstacle appearance pattern, so as to define the radar layer range of multiple sets of radar sequences.

[0112] Optionally, the obstacle avoidance device further includes: a second determining unit, used to determine the switching logic between multiple radar sequences after setting the detection range of each radar sequence in the radar system according to the driving speed, driving environment and predicted obstacle appearance mode to define the radar layer range of multiple radar sequences, based on the obstacle distance between the target vehicle and the obstacle, the driving speed and the current state of the target vehicle.

[0113] Optionally, the detection unit includes: a detection module for detecting the driving environment at different distance ranges using multiple sets of radar sequences to obtain detection information from multiple radar layers; and an integration module for integrating the detection information to obtain a first detection result.

[0114] Optionally, the first determining unit includes: a matching module, used to match obstacle information with preset judgment rules to obtain a matching result, wherein the preset judgment rules are pre-set conditions that obstacles need to meet in each radar layer; and a first determining module, used to determine the target radar layer where the obstacle is currently located based on the matching result.

[0115] Optionally, the second acquisition unit includes: an acquisition module, used to acquire the driving speed of the target vehicle when the target radar layer is a long-range radar layer; and a second determination module, used to determine the first acceleration of the target vehicle through a first deceleration function when the driving speed is greater than a speed threshold, and to determine the deceleration strategy as: linear deceleration based on the first acceleration, wherein the first deceleration function is: , Indicates the first acceleration. Indicates driving speed. Indicates the speed threshold. This represents the scaling factor; the monitoring module continues to monitor the target vehicle's speed when the vehicle's speed does not exceed a speed threshold. Multiple radar layers are included: a long-range radar layer, a medium-range radar layer, and a short-range radar layer. The long-range radar layer corresponds to the area within a first distance range in front of the target vehicle, the medium-range radar layer corresponds to the area within a second distance range in front of the target vehicle, and the short-range radar layer corresponds to the area within a third distance range in front of the target vehicle. The first distance range is farther than the second distance, and the second distance is farther than the third distance. The deceleration strategy corresponding to the target radar layer is obtained.

[0116] Optionally, the second determining module includes: a first determining submodule, used to determine the second acceleration of the target vehicle through a second deceleration function when the target radar layer is a medium-range radar layer, and to determine the deceleration strategy as: exponential deceleration based on the second acceleration, wherein the second deceleration function is: , Indicates the second acceleration. This represents the maximum deceleration of the target vehicle. Indicates the relative distance between the obstacle and the target vehicle. Indicates distance sensitivity.

[0117] Optionally, the second determining module includes: a second determining submodule, used to determine the third acceleration of the target vehicle through a third deceleration function when the target radar layer is a short-range radar layer, and to determine the deceleration strategy as: segmented deceleration based on the third acceleration, wherein the third deceleration function is: , Indicates the third acceleration. Indicates the maximum deceleration in an emergency. Indicates the critical safety distance.

[0118] According to one aspect of the present invention, a navigation vehicle is provided, which uses any of the above-described obstacle avoidance methods based on radar layer switching.

[0119] According to one aspect of the present invention, a processor is provided for running a program, wherein the program executes any of the above-described obstacle avoidance methods based on radar layer switching.

[0120] According to one aspect of the present invention, a computer program product is provided, including computer instructions, which, when executed by a processor, perform any of the above-described obstacle avoidance methods based on radar layer switching.

[0121] According to one aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes any of the above-described obstacle avoidance methods based on radar layer switching.

[0122] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0123] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: after determining that the target vehicle has entered a driving state, detecting the driving environment in which the target vehicle is located and obtaining a first detection result; when the first detection result indicates that there is an obstacle in the driving environment, acquiring obstacle information of the obstacle, wherein the obstacle information includes: obstacle location information, obstacle state, and relative distance; determining the target radar layer in which the obstacle is currently located based on the obstacle information, wherein the target radar layer is a layer among multiple radar layers of the radar system of the target vehicle, the multiple radar layers are layers corresponding to multiple sets of radar sequences in the radar system, and the multiple sets of radar sequences are radar sequences set according to the detection range in the radar system; acquiring a deceleration strategy corresponding to the target radar layer; and controlling the target vehicle to perform a deceleration operation according to the deceleration strategy.

[0124] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: acquiring the target vehicle's driving speed, driving environment, and predicted obstacle appearance pattern; and setting the detection range of each radar sequence in the radar system according to the driving speed, driving environment, and predicted obstacle appearance pattern, so as to define the radar layer range of multiple sets of radar sequences.

[0125] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining switching logic between multiple radar sequences based on the obstacle distance between the target vehicle and the obstacle, the driving speed, and the current state of the target vehicle.

[0126] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: detecting the driving environment at different distance ranges using multiple sets of radar sequences to obtain detection information in multiple radar layers; integrating the detection information to obtain a first detection result.

[0127] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: matching obstacle information with preset judgment rules to obtain matching results, wherein the preset judgment rules are pre-set conditions that obstacles need to meet in each radar layer; and determining the target radar layer where the obstacle is currently located based on the matching results.

[0128] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the target radar layer is a long-range radar layer, acquiring the driving speed of the target vehicle; when the driving speed is greater than a speed threshold, determining the first acceleration of the target vehicle through a first deceleration function, and determining the deceleration strategy as: linear deceleration based on the first acceleration, wherein the first deceleration function is: , Indicates the first acceleration. Indicates driving speed. Indicates the speed threshold. This indicates a proportionality coefficient; when the driving speed is not greater than the speed threshold, the driving speed of the target vehicle continues to be monitored.

[0129] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the target radar layer is a medium-range radar layer, determining the second acceleration of the target vehicle through a second deceleration function, and determining the deceleration strategy as: performing exponential deceleration based on the second acceleration, wherein the second deceleration function is: , Indicates the second acceleration. This represents the maximum deceleration of the target vehicle. Indicates the relative distance between the obstacle and the target vehicle. Indicates distance sensitivity.

[0130] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the target radar layer is a short-range radar layer, determining the third acceleration of the target vehicle through a third deceleration function, and determining the deceleration strategy as: performing segmented deceleration based on the third acceleration, wherein the third deceleration function is: , Indicates the third acceleration. Indicates the maximum deceleration in an emergency. Indicates the critical safety distance.

[0131] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0132] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0133] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0134] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0135] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0136] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0137] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An obstacle avoidance method based on radar layer switching, characterized in that, include: After determining that the target vehicle has entered a driving state, the driving environment in which the target vehicle is located is detected to obtain a first detection result; When the first detection result indicates that there is an obstacle in the driving environment, obstacle information is obtained, wherein the obstacle information includes: obstacle location information, obstacle state, and relative distance; The target radar layer where the obstacle is currently located is determined based on the obstacle information. The target radar layer is a layer among multiple radar layers of the radar system of the target vehicle. The multiple radar layers are layers corresponding to multiple sets of radar sequences of the radar system. The multiple sets of radar sequences are radar sequences set according to the detection range in the radar system. Obtain the deceleration strategy corresponding to the target radar layer; Control the target vehicle to perform a deceleration operation according to the deceleration strategy.

2. The obstacle avoidance method based on radar layer switching according to claim 1, characterized in that, Before detecting the driving environment of the target vehicle and obtaining the first detection result, the obstacle avoidance method further includes: The vehicle's speed, the driving environment, and the predicted obstacle appearance pattern are obtained. The detection range of each layer of the radar sequence in the radar system is set according to the driving speed, the driving environment, and the predicted obstacle appearance pattern, so as to define the radar layer range of the multiple sets of radar sequences.

3. The obstacle avoidance method based on radar layer switching according to claim 2, characterized in that, After defining the radar layer range of the multiple sets of radar sequences by setting the detection range of each layer of the radar sequence in the radar system according to the driving speed, the driving environment, and the predicted obstacle appearance pattern, the obstacle avoidance method further includes: The switching logic between the multiple radar sequences is determined based on the obstacle distance between the target vehicle and the obstacle, the driving speed, and the current state of the target vehicle.

4. The obstacle avoidance method based on radar layer switching according to claim 1, characterized in that, The driving environment of the target vehicle is detected to obtain a first detection result, including: The driving environment is detected at different distance ranges by the multiple sets of radar sequences, and the detection information in multiple radar layers is obtained. The detection information is integrated to obtain the first detection result.

5. The obstacle avoidance method based on radar layer switching according to claim 1, characterized in that, Determining the target radar layer where the obstacle currently resides based on the obstacle information includes: The obstacle information is matched with a preset judgment rule to obtain a matching result. The preset judgment rule is a pre-set condition that the obstacle must meet in each radar layer. The target radar layer in which the obstacle is currently located is determined based on the matching results.

6. The obstacle avoidance method based on radar layer switching according to claim 1, characterized in that, The plurality of radar layers includes: a long-range radar layer, a medium-range radar layer, and a short-range radar layer. The long-range radar layer corresponds to a region within a first distance range in front of the target vehicle, the medium-range radar layer corresponds to a region within a second distance range in front of the target vehicle, and the short-range radar layer corresponds to a region within a third distance range in front of the target vehicle. The first distance range is greater than the second distance, and the second distance is greater than the third distance. Obtaining the deceleration strategy corresponding to the target radar layer includes: When the target radar layer is the long-range radar layer, the driving speed of the target vehicle is obtained; When the driving speed exceeds a speed threshold, a first acceleration of the target vehicle is determined using a first deceleration function, and the deceleration strategy is determined to be: linear deceleration based on the first acceleration, wherein the first deceleration function is: , This represents the first acceleration. This indicates the driving speed. This represents the speed threshold. Indicates the proportionality coefficient; While the driving speed is not greater than the speed threshold, the driving speed of the target vehicle continues to be monitored.

7. The obstacle avoidance method based on radar layer switching according to claim 6, characterized in that, Obtaining the deceleration strategy corresponding to the target radar layer includes: When the target radar layer is the medium-range radar layer, the second acceleration of the target vehicle is determined by the second deceleration function, and the deceleration strategy is determined to be: exponential deceleration based on the second acceleration, wherein the second deceleration function is: , This indicates the second acceleration. This represents the maximum deceleration of the target vehicle. This indicates the relative distance between the obstacle and the target vehicle. Indicates distance sensitivity.

8. The obstacle avoidance method based on radar layer switching according to claim 6, characterized in that, Obtaining the deceleration strategy corresponding to the target radar layer includes: When the target radar layer is the short-range radar layer, the third acceleration of the target vehicle is determined by the third deceleration function, and the deceleration strategy is determined to be: segmented deceleration based on the third acceleration, wherein the third deceleration function is: , This refers to the third acceleration. Indicates the maximum deceleration in an emergency. Indicates the critical safety distance.

9. An obstacle avoidance device based on radar layer switching, characterized in that, include: The detection unit is used to detect the driving environment of the target vehicle after determining that the target vehicle has entered the driving state, and obtain a first detection result; The first acquisition unit is configured to acquire obstacle information of the obstacle when the first detection result indicates that there is an obstacle in the driving environment, wherein the obstacle information includes: obstacle location information, obstacle state, and relative distance; The first determining unit is configured to determine the target radar layer where the obstacle is currently located based on the obstacle information, wherein the target radar layer is a layer among multiple radar layers of the radar system of the target vehicle, the multiple radar layers are layers corresponding to multiple sets of radar sequences of the radar system, and the multiple sets of radar sequences are radar sequences set according to the detection range in the radar system; The second acquisition unit is used to acquire the deceleration strategy corresponding to the target radar layer; The control unit is used to control the target vehicle to perform a deceleration operation according to the deceleration strategy.

10. A navigation vehicle, characterized in that, The navigation vehicle uses the obstacle avoidance method based on radar layer switching as described in any one of claims 1 to 8.

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