Travelable area determination method, device, vehicle, and storage medium
By constructing a target drivable area formed by candidate tangents and parallel straight lines, the problem of inaccurate drivable areas in autonomous driving is solved, improving the safety and stability of vehicle driving.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGZHOU AUTOMOBILE GROUP CO LTD
- Filing Date
- 2025-01-22
- Publication Date
- 2026-07-24
AI Technical Summary
In the field of autonomous driving, the inaccurate determination of drivable areas in existing technologies leads to lower safety and stability during vehicle operation.
By constructing an initial drivable region enclosed by multiple candidate tangents, constructing a first straight line and a second straight line parallel to each candidate tangent, and constructing a target tangent between the candidate tangent and its corresponding first straight line to form a target drivable region, thereby compressing the initial drivable region.
This reduces the initial drivable area, decreases the likelihood of collisions between the vehicle and obstacles, and improves the vehicle's safety and reliability within the target drivable area.
Smart Images
Figure CN122443497A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and more specifically, to a method, apparatus, vehicle, and storage medium for determining a drivable area. Background Technology
[0002] In the field of autonomous driving, the drivable area of a vehicle refers to the area in which the vehicle can travel without colliding with surrounding obstacles. Thus, when the vehicle travels within the drivable area, it can avoid surrounding obstacles, ensuring the safety and stability of the vehicle's driving process.
[0003] In related technologies, there is an issue of inaccurate driving zones, which leads to lower safety and stability during vehicle operation. Summary of the Invention
[0004] This application proposes a method, apparatus, vehicle, and storage medium for determining a drivable area, in order to improve the safety and stability of the vehicle during operation.
[0005] In a first aspect, embodiments of this application provide a method for determining a drivable area, the method comprising:
[0006] Obtain the initial drivable area of the vehicle; the initial drivable area is the area enclosed by multiple candidate tangents, each of which is tangent to the obstacles around the vehicle.
[0007] For each candidate tangent, a straight line passing through the rear axle of the vehicle and parallel to the candidate tangent is constructed as the first straight line corresponding to the candidate tangent, and a straight line passing through the corner point of the vehicle closest to the candidate tangent and parallel to the candidate tangent is constructed as the second straight line corresponding to the candidate tangent.
[0008] Based on the candidate tangent, the first line corresponding to the candidate tangent, and the second line, a line parallel to the candidate tangent is constructed between the candidate tangent and the first line corresponding to it, which serves as the target tangent corresponding to the candidate tangent.
[0009] The region enclosed by the target tangent corresponding to multiple candidate tangents is obtained as the target drivable area of the vehicle.
[0010] Secondly, embodiments of this application also provide a drivable area determination device, the device comprising:
[0011] The acquisition module is used to acquire the initial drivable area of the vehicle; the initial drivable area is the area enclosed by multiple candidate tangents, each of which is tangent to the obstacles around the vehicle.
[0012] The determination module is used to construct, for each candidate tangent, a straight line passing through the rear axle of the vehicle and parallel to the candidate tangent as the first straight line corresponding to the candidate tangent, and to construct a straight line passing through the corner point of the vehicle closest to the candidate tangent and parallel to the candidate tangent as the second straight line corresponding to the candidate tangent;
[0013] The construction module is used to construct a straight line parallel to the candidate tangent between the candidate tangent and its corresponding first straight line, based on the candidate tangent, the first straight line corresponding to the candidate tangent, and the second straight line, as the target tangent corresponding to the candidate tangent;
[0014] The region determination module is used to obtain the region enclosed by the target tangent corresponding to multiple candidate tangents, which is used as the target drivable area of the vehicle.
[0015] Thirdly, embodiments of this application also provide a vehicle, the vehicle including: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more application programs are configured to perform the method described in the first aspect above.
[0016] Fourthly, embodiments of this application also provide a computer-readable storage medium storing processor-executable program code, which, when executed by the processor, causes the processor to perform the above-described method.
[0017] This application provides a method, apparatus, vehicle, and storage medium for determining a drivable area. First, an initial drivable area of the vehicle is obtained, which is a region enclosed by multiple candidate tangents. For each candidate tangent, a first straight line passing through the rear axle of the vehicle and parallel to the candidate tangent is constructed, and a second straight line passing through the corner point of the vehicle closest to the candidate tangent and parallel to the candidate tangent is constructed. Based on the candidate tangent, the first straight line corresponding to the candidate tangent, and the second straight line, a straight line parallel to the candidate tangent is constructed between the candidate tangent and its corresponding first straight line as the target tangent corresponding to the candidate tangent. The region enclosed by each target tangent is obtained as the target drivable area of the vehicle. Since the constructed target tangent is located between the candidate tangent and the vehicle, the constructed target drivable area is a closed space within the initial drivable area, thus compressing the vehicle's initial drivable area. The compressed target drivable area is smaller, and the probability of obstacles around the vehicle being within the compressed target drivable area is relatively low. When the vehicle is driving within the compressed target drivable area, the probability of collision with obstacles around the vehicle is lower, making the vehicle safer and more reliable when driving within the target drivable area.
[0018] Other features and advantages of the embodiments of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the embodiments of this application. The objects and other advantages of the embodiments of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 A schematic diagram of a vehicle hardware environment applicable to embodiments of this application is shown.
[0021] Figure 2 A flowchart of a method for determining a drivable area according to an embodiment of this application is shown.
[0022] Figure 3 A schematic diagram of a vehicle structure according to an embodiment of this application is shown.
[0023] Figure 4 A schematic diagram of the process for determining a target ellipse in an embodiment of this application is shown.
[0024] Figure 5 A schematic diagram of the expansion process of a target ellipse according to an embodiment of this application is shown.
[0025] Figure 6 A schematic diagram of a process for determining a target tangent in an embodiment of the application is shown.
[0026] Figure 7 It shows Figure 2 The corresponding embodiments include the steps preceding step S130 and a flowchart of step S130 in one embodiment.
[0027] Figure 8 A schematic diagram of a process for determining a target drivable area is shown in an embodiment of the application.
[0028] Figure 9 A structural block diagram of a drivable area determination device according to an embodiment of this application is shown. Detailed Implementation
[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. The components of the embodiments of the present application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.
[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0031] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment applicable to an embodiment of this application is shown. The vehicle 100 includes a driving system 110, which can have multiple built-in autonomous driving functions. The driving system 110 can store electronic maps. The driving system 110 can plan driving routes based on the electronic maps it stores, and can also control the vehicle to drive autonomously based on the planned driving routes.
[0032] The driving system 110 may include a data acquisition device 111, one or more (only one is shown in the figure) processors 112 and memory 113.
[0033] The data acquisition device 111 is used to detect various signals or data of the vehicle, such as the vehicle's motion status, the motion status of obstacles around the vehicle, and road information. The data acquisition device 111 may include various sensors or signal collectors for detecting the aforementioned information.
[0034] The processor 112 may be a microcontroller unit (MCU) with a built-in memory 113 containing a program that can execute the contents of the following embodiments, and the processor 112 can execute the program stored in the memory 113.
[0035] The processor 112 may include one or more processors. The processor 112 uses various interfaces and circuits to connect various parts of the vehicle 100, and performs various functions of the vehicle 10 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 113, and calling data stored in the memory 113.
[0036] Memory 113 may include random access memory (RAM) or read-only memory (ROM). Memory 15 may be used to store instructions, programs, code, code sets, or instruction sets. Memory 15 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the various method embodiments described below, etc.
[0037] Please see Figure 2 , Figure 2 A flowchart of a drivable area determination method according to an embodiment of this application is shown, for a vehicle, the method comprising:
[0038] S110, Obtain the initial drivable area of the vehicle.
[0039] The initial drivable area is a region enclosed by multiple candidate tangents, each of which is tangent to the obstacles around the vehicle. Thus, the obstacles and the vehicle are separated to their respective sides by the candidate tangents. The vehicle is located within the region enclosed by the multiple candidate tangents (i.e., the initial drivable area), while the obstacles around the vehicle are located outside the initial drivable area. Therefore, when the vehicle is driving within the initial drivable area, it will not collide with the surrounding obstacles. Thus, the initial drivable area of the vehicle constitutes the drivable area in which the vehicle can avoid the obstacles around it.
[0040] In this embodiment, the vehicle can be an electric vehicle or a fuel vehicle, or it can be a sedan, SUV, bus, or truck, etc. The term "self-vehicle" can refer to the vehicle itself.
[0041] In some embodiments, the initial drivable area of the vehicle can be determined based on the vehicle's size information, the vehicle's location, and the location of obstacles around the vehicle.
[0042] It is worth mentioning that the initial drivable area may be different depending on the time point, the location of the vehicle and the location of the obstacles around the vehicle. Therefore, an initial drivable area is determined for each current time point.
[0043] The vehicle's dimensions can include the rear axle length L. r Wheelbase L b Front axle length L f and vehicle width L w ,like Figure 3 As shown, wheelbase 301 is the distance between the rear axle 302 and the front axle 303 of the vehicle; rear axle length 304 is the distance between the rear axle 302 and the rear end 305 of the vehicle; front axle length 306 is the distance between the front axle 303 and the front end 307 of the vehicle; and the vehicle width is... Figure 3 308 in the middle.
[0044] The initial predicted trajectory of the vehicle can be obtained by the trajectory prediction module of the vehicle's autonomous driving function, based on the vehicle's motion state and the motion state of obstacles around the vehicle (and may also include road information such as road width and road boundary lines). The vehicle's motion state can include the vehicle's speed, acceleration, angular velocity, heading angle, and position (which can be coordinates in the world coordinate system). Similarly, the motion state of obstacles can include the obstacle's speed, acceleration, angular velocity, heading angle, and position. Obstacles can be vehicles, bicycles, pedestrians, and road signs around the vehicle.
[0045] Generally, at each current time point during the vehicle's driving process, based on the vehicle's motion state at that time point and the motion state of obstacles around the vehicle at that time point (which may also include road information such as road width and road boundary lines), the initial predicted trajectory of the vehicle and the initial predicted trajectory of obstacles around the vehicle during the prediction period are predicted. The starting time point of the prediction period can be the current time point or any time point after the current time point. The prediction period can include multiple prediction time points. The time interval between any two adjacent prediction time points can be a fixed value. The duration of the prediction period can be set according to requirements. For example, if the prediction period is 10 seconds and the interval between any two adjacent prediction time points is 0.5 seconds, then the prediction period includes 21 prediction time points.
[0046] Thus, for any predicted time point within the prediction period, when that predicted time point is reached, the location of the vehicle at that predicted time point can be determined from the vehicle's initial predicted trajectory, and the location of the obstacles around the vehicle at that predicted time point can be determined from the obstacles' initial obstacle predicted trajectory.
[0047] After obtaining the aforementioned vehicle size information, vehicle location, and the locations of obstacles around the vehicle, a drivable area for the vehicle to avoid obstacles is constructed based on this information as the vehicle's initial drivable area. The obstacles around the vehicle are located outside the initial drivable area, thus the vehicle will not collide with the surrounding obstacles when driving within the initial drivable area.
[0048] As mentioned above, the initial drivable area can be a region enclosed by multiple candidate tangents. When the vehicle is located at the position of a candidate tangent, the vehicle is more likely to collide with a certain obstacle in the surrounding area. Furthermore, there is a collision point in the candidate tangent. When the vehicle is located at the collision point, the vehicle will collide with the obstacle.
[0049] In some embodiments, before S110, the method may further include: for each obstacle, obtaining the point on the obstacle closest to the vehicle as a candidate point of the obstacle, obtaining a straight line that passes through the candidate point of the obstacle and is tangent to the obstacle as a candidate tangent line corresponding to the obstacle, and so on, traversing all obstacles to obtain multiple candidate tangent lines, and obtaining the area enclosed by multiple candidate tangent lines as an initial drivable area.
[0050] In some embodiments, before S110, the method may further include: constructing a minimum ellipse indicating the outline of the vehicle based on the vehicle's size information and the vehicle's location, as the initial ellipse corresponding to the vehicle; expanding the initial ellipse according to a specified time interval and the vehicle's speed to obtain the target ellipse corresponding to the vehicle; and expanding the target ellipse based on the location of the obstacle to obtain the initial drivable area of the vehicle.
[0051] In some embodiments, a rectangle enclosing the outline of the vehicle can be determined as the target rectangle, centered on the vehicle's location, and an ellipse passing through all vertices of the target rectangle can be determined as the initial ellipse corresponding to the vehicle. The length and width of the target rectangle can be the vehicle's length and width, and the centroid of the target rectangle is the location of the vehicle's center or rear axle.
[0052] In other embodiments, the target radius can be determined based on the vehicle's size information; a target circle corresponding to the vehicle can be constructed based on the target radius with the vehicle's location as the center; the target circle can be compressed in the width direction of the vehicle to obtain the smallest ellipse covering the vehicle's outline, which serves as the initial ellipse corresponding to the vehicle.
[0053] In other words, the rigid body structure of the vehicle can be approximated as a circle, and the radius of this circle is taken as the target radius R. The target radius R is calculated based on the vehicle's size information using Formula 1, as follows:
[0054]
[0055] Then, based on the location of the vehicle as the center and the aforementioned target radius R as the radius, a circle is constructed as the target circle of the vehicle. Then, the target circle is compressed in the width direction of the vehicle to obtain the smallest ellipse covering the outline of the vehicle, which is used as the initial ellipse corresponding to the vehicle. At this time, the initial ellipse just covers the outline of the vehicle.
[0056] When constructing the initial ellipse based on the radius shown in Formula 1, the expression for the initial ellipse is based on Formula 2, which is as follows:
[0057]
[0058] E = E r T SE r
[0059] Wherein, rotation matrix E r Determined by the heading angle of the vehicle. θ is the heading angle of the vehicle, S = diag(a,b) is a diagonal scaling matrix, whose diagonal elements represent the length of the semi-axis of the ellipse, and d is the center coordinate of the ellipse (that is, the coordinates of the vehicle's center or rear axle center, which can be coordinates in the world coordinate system or coordinates in the vehicle coordinate system).
[0060] like Figure 4 As shown, the vehicle is approximated as a rectangle 401. First, a target circle 402 of the vehicle is constructed. Then, the target circle 402 is compressed in the width direction of the vehicle to obtain the initial ellipse 403 of the vehicle. The vertex of the rectangle 401 is exactly tangent to the initial ellipse 403, which means that the initial ellipse is the smallest ellipse covering the outline of the vehicle.
[0061] Considering the spatial connectivity of a trajectory, after obtaining the initial ellipse, the initial ellipse can be expanded to obtain the expanded ellipse as the target ellipse of the vehicle, so that the target ellipse can cover a pre-aiming distance and ensure that the vehicle remains within the target ellipse after traveling the pre-aiming distance.
[0062] In some embodiments, the process of dilating the initial ellipse includes: determining the estimated travel distance based on the vehicle's speed and a specified time interval; dilating the initial ellipse while keeping its center and major-minor axis ratio unchanged to obtain the target ellipse. The dilation amount of the initial ellipse can be 2 times, 2.5 times, or 2 times the estimated travel distance, etc.
[0063] The specified time interval can be set based on requirements, such as 0.2s or 0.5s. Generally, the specified time interval can be the interval between any two prediction time points within the aforementioned prediction period.
[0064] The estimated travel distance can be obtained by multiplying the vehicle's speed by the specified time interval; that is, the estimated travel distance is actually the distance between the vehicle's location at the next predicted time point after the current time point and the vehicle's location at the current time point.
[0065] Then, keeping the center and ratio of the major and minor axes of the initial ellipse unchanged, the major axis of the initial ellipse is expanded to twice the estimated travel distance to obtain the target ellipse. For example... Figure 4 As shown, the initial ellipse 403 is expanded to obtain the target ellipse 404. The semi-major axis of the target ellipse 404 is the estimated driving distance, and the semi-minor axis of the target ellipse 404 is the quotient of the estimated driving distance and the ratio of the major and minor axes, where the ratio of the major and minor axes is the ratio of the major axis to the minor axis of the ellipse.
[0066] In other words, when expanding the initial ellipse, the shape of the initial ellipse is kept unchanged, and only the size of the initial ellipse is changed to obtain the target ellipse.
[0067] Because the expansion process of the target ellipse takes into account the estimated travel distance, the range covered by the target ellipse can ensure that the target ellipse covers the rigid body of the vehicle, and also take into account that the trajectory points at the next prediction time point are also covered by the target ellipse, thereby improving the spatial connectivity of the trajectory points at two adjacent prediction time points.
[0068] After obtaining the target ellipse, the target ellipse can be expanded according to the location of the obstacle to obtain the initial drivable area of the vehicle.
[0069] In some embodiments, the center and major-minor axis ratio of the target ellipse can be kept unchanged, and the target ellipse can be expanded until it collides with the first reference target among the reference targets. A straight line passing through the reference collision point and tangent to the expanded target ellipse is constructed as a reference tangent. The first reference target can be any one of the reference targets. The reference targets include obstacles and road boundary points of the vehicle lane. The reference collision point is the point where the first reference target collides with the expanded target ellipse. Second reference targets located in the non-reference ellipse region among the obstacles and road boundary points are deleted to update the reference targets. The non-reference ellipse region is the region that does not include the expanded target ellipse among the two regions divided by the reference tangent. The expanded target ellipse is used as the new target ellipse, and the steps of keeping the center and major-minor axis ratio of the target ellipse unchanged, expanding the target ellipse until it collides with the first reference target among the reference targets, and constructing a straight line passing through the reference collision point and tangent to the expanded target ellipse as a reference tangent are repeated until all reference targets are deleted. All reference tangents are obtained as candidate tangents. The region enclosed by the candidate tangents is obtained as the initial drivable region of the vehicle.
[0070] Keeping the center and aspect ratio of the generated target ellipse unchanged, gradually expand it until the nearest reference collision point is found. At the reference collision point Generate a reference tangent at the specified location, and the equation of the reference tangent is given. in
[0071]
[0072] Subsequently, the non-reference elliptical region (the region divided by the reference tangent, excluding the target ellipse) is determined based on the obtained reference tangent. Then, all reference targets (i.e., the second reference targets) within the non-reference elliptical region are removed. The remaining reference targets are used as new reference targets, and the expanded target ellipse at this point is used as the new target ellipse. The aforementioned expansion process continues until the last removal of the second reference target, after which no reference targets remain. The convex region enclosed by all reference tangents is then obtained as the initial drivable region of the vehicle. At this point, the initial drivable region is... Where a i b i Let i be the i-th column of matrix A and the i-th element of vector b, respectively, and n be the number of reference tangents.
[0073] like Figure 5 As shown, the target ellipse 501 expands until it collides with the first reference target 502, determining the reference tangent 503 and the expanded target ellipse 5011. Then, the area below the reference tangent 503 is designated as the non-reference ellipse area, and the second reference target is removed: including obstacle 504 and road boundary points on road boundary 504. Figure 5 The road boundary point in the diagram is the black solid circle on road boundary 504. The remaining obstacle 506 and the road boundary point on road boundary 505 are obtained as new reference targets. The aforementioned expansion steps are repeated for the expanded target ellipse 5011 to finally determine multiple candidate tangents.
[0074] In some embodiments, a specified range for the vehicle can be determined based on the vehicle's location; candidate obstacles within the specified range can be identified from among the obstacles, and candidate road boundary points within the specified range can be identified from among the road boundary points of the vehicle's lane; the target ellipse is expanded while keeping its center and major-minor axis ratio unchanged until it collides with a collision target among the relevant targets; a straight line passing through the collision point and tangent to the expanded target ellipse is constructed as the initial tangent line; the collision target is any one of the relevant targets; the relevant targets include candidate obstacles and candidate road boundary points; the collision point is the point where the collision target collides with the expanded target ellipse; and the phase Candidate obstacles and candidate road boundary points located in non-elliptical regions of the target are deleted to update the relevant targets. The non-elliptical region is the region between the two regions after the initial tangent division, excluding the region of the expanded target ellipse. The expanded target ellipse is used as the new target ellipse. The process of expanding the target ellipse while keeping the center and major-minor axis ratio unchanged is repeated until a collision occurs with a collision target among the relevant targets. A straight line passing through the collision point and tangent to the expanded target ellipse is constructed as the initial tangent line. This process is repeated until all relevant targets are deleted. All initial tangent lines are obtained as candidate tangent lines. The region enclosed by the candidate tangent lines is obtained as the initial drivable area of the vehicle.
[0075] In this application, to reduce processing time, only obstacles and road boundary points within a limited expansion area (i.e., the aforementioned specified range) are considered. Therefore, the specified range can be defined centered on the vehicle's location, covering a first forward distance, a second backward distance, and a third distance to both sides. Then, obstacles within this specified range are selected as candidate obstacles, and road boundary points within the specified range of the vehicle's lane are selected as candidate road boundary points. The first distance can be the sum of the estimated travel distance and a first preset value, such as 5m; the second distance can be, for example, 5m; and the third distance can be, for example, 10m.
[0076] After determining the candidate obstacles and candidate road boundary points, as described above... Figure 5 The dilation is performed as shown to obtain multiple candidate tangents.
[0077] S120. For each candidate tangent, construct a straight line that passes through the rear axle of the vehicle and is parallel to the candidate tangent as the first straight line corresponding to the candidate tangent, and construct a straight line that passes through the corner point of the vehicle closest to the candidate tangent and is parallel to the candidate tangent as the second straight line corresponding to the candidate tangent.
[0078] In other words, for each candidate tangent, a straight line passing through the rear axle of the vehicle and parallel to the candidate tangent is constructed as the first straight line corresponding to the candidate tangent, based on the candidate tangent. Then, a straight line passing through the corner point of the vehicle closest to the candidate tangent and parallel to the candidate tangent is constructed as the first straight line corresponding to the candidate tangent. In this way, a first straight line and a second straight line are constructed for each candidate tangent.
[0079] For example, such as Figure 6 As shown, based on the candidate tangent 601, a first straight line 602 passing through the rear axle center 61 of the vehicle is first constructed, and then a second straight line 603 passing through the corner point 62 of the vehicle closest to the candidate tangent is constructed. Thus, the first straight line 602 and the second straight line 603 corresponding to the candidate tangent 601 are obtained.
[0080] If the i-th candidate tangent line passes through H i This indicates that the relative distance between the rear axle center of the vehicle and the candidate tangent is expressed by b. border If we represent this, then the corresponding first straight line is H. i1 =H i -b border Similarly, the relative distance between the corner point closest to the candidate tangent and the candidate tangent is obtained through b. vertex This indicates that, at this point, the corresponding second straight line is H. i2 =H i -b vertex .
[0081] S130. Based on the candidate tangent, the first straight line corresponding to the candidate tangent, and the second straight line, construct a straight line parallel to the candidate tangent between the candidate tangent and the first straight line corresponding to it, as the target tangent corresponding to the candidate tangent.
[0082] For each candidate tangent, after determining the candidate tangent, its corresponding first straight line, and its corresponding second straight line, a straight line parallel to the candidate tangent is constructed between the candidate tangent and its corresponding first straight line, based on their respective positions. This straight line serves as the target tangent for the candidate tangent. Thus, the constructed target tangent, relative to the candidate tangent, is closer to the vehicle's location, making the target drivable area smaller than the initial drivable area, thereby compressing the initial drivable area.
[0083] It can be based on the relative distance between a candidate tangent and its corresponding second line, and then construct a target tangent between the candidate tangent and its corresponding first line. For example, the relative distance between a candidate tangent and its corresponding second line can be obtained as the collision relative distance corresponding to the candidate tangent.
[0084] Between the candidate tangent and the corresponding first straight line, construct a straight line that is parallel to the candidate tangent and has a collision relative distance from the first straight line corresponding to the candidate tangent, and use it as the target tangent corresponding to the candidate tangent.
[0085] For example, continue to refer to Figure 6 Based on the candidate tangent 601, a first straight line 602 passing through the rear axle center 61 of the vehicle is first constructed. Then, a second straight line 603 passing through the corner point 62 of the vehicle closest to the candidate tangent is constructed. Based on the relative collision distance between the second straight line 603 and the candidate tangent 601, a straight line 604 is constructed, which serves as the target tangent corresponding to the candidate tangent 601. This means that when the rear axle center 61 of the vehicle reaches the straight line 604, the vehicle will collide with the obstacle. Therefore, using the straight line 604 as the target tangent to prevent the vehicle from colliding with the obstacle effectively avoids the collision.
[0086] In some embodiments, S130 may further include: obtaining the relative distance between the candidate tangent and its corresponding second straight line as the collision relative distance corresponding to the candidate tangent; constructing a straight line between the candidate tangent and its corresponding first straight line that is the collision relative distance from the first straight line corresponding to the candidate tangent and is parallel to the candidate tangent as the third straight line corresponding to the candidate tangent; and constructing a target tangent corresponding to the candidate tangent between the candidate tangent and its corresponding third straight line.
[0087] In other words, the first straight line corresponding to the candidate tangent is constructed as the collision relative distance and is parallel to the candidate tangent. This straight line is then used as the third straight line corresponding to the candidate tangent. Then, a target tangent is constructed between the candidate tangent and its corresponding third straight line.
[0088] In some implementations, a target tangent can be constructed at any position between the candidate tangent and its corresponding third line.
[0089] In some other implementations, the optimal distance corresponding to the candidate tangent can be determined based on the relative position between the vehicle and the third straight line corresponding to the candidate tangent; between the candidate tangent and its corresponding third straight line, a fourth straight line is constructed that is at an optimal distance from the third straight line corresponding to the candidate tangent and is parallel to the candidate tangent, and is used as the target tangent corresponding to the candidate tangent.
[0090] In this application, for any candidate tangent, if the third straight line corresponding to the candidate tangent is between the vehicle's position and the candidate tangent, it means that the vehicle's position falls within the area enclosed by the third straight lines corresponding to each candidate tangent. The third straight line corresponding to the candidate tangent is directly obtained as the target tangent. That is, in this case, the determined optimal distance is 0, and the constructed fourth straight line coincides with the third straight line. Alternatively, for any candidate tangent, if the vehicle's position is between the candidate tangent and its corresponding third straight line, it means that the vehicle's position falls outside the area enclosed by the third straight lines corresponding to each candidate tangent. The relative distance between the vehicle's position and the third straight line is determined as the optimal distance. Between the candidate tangent and its corresponding third straight line, a fourth straight line is constructed that is at the optimal distance from the third straight line and parallel to the candidate tangent, serving as the target tangent.
[0091] As mentioned above, if the i-th candidate tangent line passes through H i This indicates that the relative distance between the rear axle center of the vehicle and the candidate tangent is expressed by b. border If we represent this, then the corresponding first straight line is H. i1 =H i -b border Similarly, the relative distance between the corner point closest to the candidate tangent and the candidate tangent is obtained through b. vertex This indicates that, at this point, the corresponding second straight line 603 is H. i2 =H i -b vertex The corresponding third line is H. i3 =H i ―b border +b vertex The corresponding fourth line H i4 =H i ―b border +b vertex +d1, where d1 is the optimized distance. The constructed target drivable area. m is the number of candidate tangents.
[0092] For example, continue to refer to Figure 6 Based on the candidate tangent 601, a first straight line 602 passing through the rear axle center 61 of the vehicle is first constructed. Then, a second straight line 603 passing through the corner point 62 of the vehicle closest to the candidate tangent is constructed. Then, based on the relative collision distance between the second straight line 603 and the candidate tangent 601, a third straight line 604 is constructed. At this time, in... Figure 6 In the process, the third straight line 604 is located between the vehicle and the candidate tangent line 601, and the optimized distance is determined to be 0. The third straight line 604 is then used as the target tangent line to constrain the vehicle from colliding (in fact, the constructed fourth straight line coincides with the third straight line).
[0093] S140. Obtain the area enclosed by the target tangent corresponding to multiple candidate tangents, and use it as the target drivable area of the vehicle.
[0094] After obtaining the target tangent corresponding to the candidate tangent, the area enclosed by the target tangent corresponding to the multiple candidate tangents can be used as the target drivable area of the vehicle.
[0095] After obtaining the target drivable area of the vehicle, it can be controlled to drive within the target drivable area. During the driving process, the vehicle can avoid surrounding obstacles and achieve obstacle avoidance driving. The safety and reliability of the vehicle driving process are relatively high.
[0096] Of course, after obtaining the target drivable area of the vehicle, it can also perform secondary planning based on the initial trajectory planned by the vehicle to obtain an optimized trajectory with better accuracy, and control the vehicle to drive according to the optimized trajectory.
[0097] In this embodiment, firstly, the initial drivable area of the vehicle is obtained. This initial drivable area is the region enclosed by multiple candidate tangents. For each candidate tangent, a first straight line passing through the rear axle of the vehicle and parallel to the candidate tangent is constructed, and a second straight line passing through the corner point of the vehicle closest to the candidate tangent and parallel to the candidate tangent is constructed. Based on the candidate tangent, the corresponding first straight line, and the second straight line, a straight line parallel to the candidate tangent is constructed between the candidate tangent and its corresponding first straight line, serving as the target tangent corresponding to the candidate tangent. The region enclosed by each target tangent is obtained as the target drivable area of the vehicle. Since the constructed target tangent is located between the candidate tangent and the vehicle, the constructed target drivable area is a closed space within the initial drivable area, thus compressing the initial drivable area of the vehicle. The compressed target drivable area is smaller, and the probability of obstacles around the vehicle being within the compressed target drivable area is relatively low. When the vehicle travels within the compressed target drivable area, the probability of collision with obstacles around the vehicle is lower, making the vehicle safer and more reliable when traveling within the target drivable area.
[0098] Secondly, since the compressed target drivable area is small, the probability of obstacles around the vehicle being within the compressed target drivable area is relatively low. When the compressed target drivable area is used as the obstacle avoidance constraint condition for the search optimized trajectory points, the searched optimized trajectory is also safer and more reliable. As a result, when the vehicle travels according to the optimized trajectory formed by the optimized trajectory points, the safety and reliability are higher.
[0099] In addition, this application introduces the estimation of driving distance to expand the initial ellipse of the rigid body representation of the vehicle to obtain the target ellipse indicating the vehicle. The target ellipse covers the position of the vehicle at the next predicted time point. Thus, when constructing the initial drivable area based on the target ellipse, the generated initial drivable area effectively ensures the connectivity of the entire trajectory, thereby improving the trajectory optimization effect.
[0100] In one embodiment, such as Figure 7 As shown, before 130, the method also includes:
[0101] S210. For each target tangent, construct a fifth straight line between the vehicle and the target tangent, which is at a specified distance from the target tangent and parallel to the target tangent.
[0102] The specified distance can be a minimum safe distance set based on requirements, for example, a safe distance of 0.3m.
[0103] For each target tangent, a fifth line can be constructed, thus obtaining multiple fifth lines corresponding to multiple target tangents. At this point, the constructed fifth line H... i5 =H i4 —d2, where d2 is the specified distance. For example, as Figure 6 As shown, with the third straight line 604 as the target tangent, the constructed fifth straight line 605 is closer to the vehicle, thereby further compressing the drivable area.
[0104] Accordingly, S130 includes: obtaining the area enclosed by the fifth straight line corresponding to multiple candidate tangents, as the target drivable area of the vehicle.
[0105] In other words, based on the area enclosed by the target tangent, the driving area of the target is further reduced by a specified distance.
[0106] In this embodiment, by further introducing a soft collision avoidance constraint—a specified safety distance—the trajectory points are kept as far outside the minimum safety distance as possible within the obstacle avoidance range, thereby further improving the safety and reliability of the vehicle when driving within the compressed target drivable area. Secondly, when the target drivable area is used as the obstacle avoidance constraint condition for the optimized trajectory points, the resulting optimized trajectory is safer and more reliable, thus ensuring higher safety and reliability when the vehicle travels along the optimized trajectory formed by the optimized trajectory points.
[0107] In one embodiment, the process of determining the target drivable area of the vehicle is as follows: Figure 8As shown. First, based on the vehicle's position, an initial ellipse is determined. This initial ellipse is then expanded to obtain a target ellipse. The expansion of the target ellipse continues until an initial tangent is determined. Candidate obstacles and candidate road boundary points outside the initial tangent are removed. Then, it is determined whether all candidate obstacles and candidate road boundary points have been removed. If not, the process returns to the step of expanding the target ellipse. If so, all initial tangents are obtained as candidate tangents. The convex drivable region constructed by the candidate tangents is obtained as the initial drivable region. The initial drivable region is then compressed to obtain the compressed target drivable region.
[0108] See appendix Figure 9 , Figure 9 This illustration shows a structural block diagram of a drivable area determination device according to one embodiment of this application. For use in a vehicle, the device 800 includes:
[0109] The acquisition module 810 is used to acquire the initial drivable area of the vehicle; the initial drivable area is an area enclosed by multiple candidate tangents, each candidate tangent to the obstacles around the vehicle;
[0110] The determination module 820 is used to construct, for each candidate tangent, a straight line passing through the rear axle of the vehicle and parallel to the candidate tangent as the first straight line corresponding to the candidate tangent, and to construct a straight line passing through the corner point of the vehicle closest to the candidate tangent and parallel to the candidate tangent as the second straight line corresponding to the candidate tangent.
[0111] The construction module 830 is used to construct a straight line parallel to the candidate tangent between the candidate tangent and the corresponding first straight line, based on the candidate tangent, the first straight line corresponding to the candidate tangent, and the second straight line, as the target tangent corresponding to the candidate tangent;
[0112] The region determination module 840 is used to obtain the region enclosed by the target tangent corresponding to multiple candidate tangents, which is used as the target drivable area of the vehicle.
[0113] Optionally, the construction module 830 is further configured to obtain the relative distance between the candidate tangent and its corresponding second straight line as the collision relative distance corresponding to the candidate tangent; between the candidate tangent and its corresponding first straight line, construct a straight line that is the collision relative distance from the first straight line corresponding to the candidate tangent and is parallel to the candidate tangent as the third straight line corresponding to the candidate tangent; and between the candidate tangent and its corresponding third straight line, construct the target tangent corresponding to the candidate tangent.
[0114] Optionally, the construction module 830 is further configured to determine the optimized distance corresponding to the candidate tangent based on the relative position between the vehicle and the third straight line corresponding to the candidate tangent; and to construct a fourth straight line between the candidate tangent and its corresponding third straight line, which is at an optimized distance from the third straight line corresponding to the candidate tangent and is parallel to the candidate tangent, as the target tangent corresponding to the candidate tangent.
[0115] Optionally, the region determination module 840 is further configured to construct a fifth straight line that is at a specified distance from the target tangent and parallel to the target tangent between the vehicle and the target tangent for each target tangent; and to obtain the region enclosed by the fifth straight line corresponding to multiple candidate tangents as the target drivable region of the vehicle.
[0116] Optionally, the acquisition module 810 is further configured to construct a minimum ellipse indicating the outline of the vehicle based on the vehicle's size information and the vehicle's location, as the initial ellipse corresponding to the vehicle; expand the initial ellipse according to a specified time interval and the vehicle's speed to obtain the target ellipse corresponding to the vehicle; and expand the target ellipse based on the location of the obstacle to obtain the initial drivable area of the vehicle.
[0117] Optionally, the acquisition module 810 is also used to determine the estimated travel distance based on the vehicle speed and a specified time interval; and to expand the initial ellipse while keeping the center and major-minor axis ratio unchanged to obtain the target ellipse.
[0118] Optionally, the acquisition module 810 is also used to determine the target radius based on the size information of the vehicle; construct a target circle corresponding to the vehicle based on the target radius with the location of the vehicle as the center; compress the target circle in the width direction of the vehicle to obtain the smallest ellipse covering the outline of the vehicle, which is used as the initial ellipse corresponding to the vehicle.
[0119] Optionally, the acquisition module 810 is further configured to: determine a specified range for the vehicle based on its location; identify candidate obstacles within the specified range from among the obstacles; and identify candidate road boundary points within the specified range from among the road boundary points of the vehicle's lane; expand the target ellipse while keeping its center and major-minor axis ratio unchanged until it collides with a collision target among the relevant targets; construct a straight line passing through the collision point and tangent to the expanded target ellipse as the initial tangent line; the collision target is any one of the relevant targets; the relevant targets include candidate obstacles and candidate road boundary points; the collision point is the point where the collision target collides with the expanded target ellipse; Delete candidate obstacles and candidate road boundary points located in the non-elliptical region of the relevant targets to update the relevant targets; the non-elliptical region is the two regions after the initial tangent division, excluding the region of the expanded target ellipse; take the expanded target ellipse as the new target ellipse, return to execute the step of keeping the center and major-minor axis ratio of the target ellipse unchanged, expand the target ellipse until it collides with a collision target in the relevant targets, construct a straight line passing through the collision point and tangent to the expanded target ellipse as the initial tangent line, until all relevant targets are deleted, obtain all the initial tangent lines as candidate tangent lines; obtain the region enclosed by the candidate tangent lines as the initial drivable area of the vehicle.
[0120] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0121] Furthermore, the functions in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module.
[0122] On the other hand, this application also provides a computer-readable storage medium storing program code that can be called by a processor to execute the methods described in the above method embodiments.
[0123] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or a cluster of ROMs. Optionally, computer-readable storage media include non-volatile computer-readable storage media. The computer-readable storage media has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.
[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A method for determining a drivable area, characterized in that, The method includes: Obtain the initial drivable area of the vehicle; the initial drivable area is the area enclosed by multiple candidate tangents, each of which is tangent to an obstacle around the vehicle; For each candidate tangent, a straight line passing through the rear axle of the vehicle and parallel to the candidate tangent is constructed as the first straight line corresponding to the candidate tangent, and a straight line passing through the corner point of the vehicle closest to the candidate tangent and parallel to the candidate tangent is constructed as the second straight line corresponding to the candidate tangent. Based on the candidate tangent, the first straight line corresponding to the candidate tangent, and the second straight line, a straight line parallel to the candidate tangent is constructed between the candidate tangent and the first straight line corresponding to it, which serves as the target tangent corresponding to the candidate tangent. The region enclosed by the target tangents corresponding to the multiple candidate tangents is obtained as the target drivable area of the vehicle.
2. The method according to claim 1, characterized in that, The step of constructing a straight line parallel to the candidate tangent between the candidate tangent and its corresponding first straight line, based on the candidate tangent, the first straight line corresponding to the candidate tangent, and the second straight line, as the target tangent corresponding to the candidate tangent, includes: The relative distance between the candidate tangent and its corresponding second line is obtained as the collision relative distance corresponding to the candidate tangent. Between the candidate tangent and its corresponding first straight line, a straight line is constructed that is the relative collision distance from the first straight line corresponding to the candidate tangent and is parallel to the candidate tangent, and serves as the third straight line corresponding to the candidate tangent; Between the candidate tangent and its corresponding third line, construct the target tangent corresponding to the candidate tangent.
3. The method according to claim 2, characterized in that, The step of constructing a target tangent corresponding to the candidate tangent between the candidate tangent and the corresponding third line includes: The optimal distance corresponding to the candidate tangent is determined based on the relative position between the vehicle and the third straight line corresponding to the candidate tangent. Between the candidate tangent and its corresponding third straight line, a fourth straight line is constructed that is at the optimized distance from the third straight line corresponding to the candidate tangent and is parallel to the candidate tangent, and is used as the target tangent corresponding to the candidate tangent.
4. The method according to claim 1, characterized in that, Before obtaining the region enclosed by the target tangents corresponding to the plurality of candidate tangents as the target drivable area of the vehicle, the method further includes: For each target tangent, a fifth straight line is constructed between the vehicle and the target tangent, at a specified distance from the target tangent and parallel to the target tangent; The step of obtaining the region enclosed by the target tangents corresponding to the plurality of candidate tangents as the target drivable region of the vehicle includes: The region enclosed by the fifth straight line corresponding to the multiple candidate tangents is obtained as the target drivable area of the vehicle.
5. The method according to claim 1, characterized in that, Before obtaining the initial drivable area of the vehicle, the method further includes: Based on the vehicle's size information and its location, a minimum ellipse indicating the vehicle's outline is constructed as the initial ellipse corresponding to the vehicle. Based on a specified time interval and the vehicle's speed, the initial ellipse is expanded to obtain the target ellipse corresponding to the vehicle. Based on the location of the obstacle, the target ellipse is expanded to obtain the initial drivable area of the vehicle.
6. The method according to claim 5, characterized in that, The step of dilating the initial ellipse according to a specified time interval and the vehicle's speed to obtain the target ellipse corresponding to the vehicle includes: The estimated travel distance is determined based on the vehicle's speed and the specified time interval. Keeping the center and major-minor axis ratio of the initial ellipse unchanged, the initial ellipse is expanded to obtain the target ellipse.
7. The method according to claim 5, characterized in that, The step of constructing a minimum ellipse indicating the outline of the vehicle, based on the vehicle's size information and its location, as the initial ellipse corresponding to the vehicle, includes: The target radius is determined based on the vehicle's dimensions. Using the location of the vehicle as the center, construct a target circle corresponding to the vehicle based on the target radius; The target circle is compressed in the width direction of the vehicle to obtain the smallest ellipse that covers the outline of the vehicle, which is used as the initial ellipse corresponding to the vehicle.
8. The method according to claim 5, characterized in that, The step of expanding the target ellipse based on the location of the obstacle to obtain the initial drivable area of the vehicle includes: Based on the location of the vehicle, a designated range is determined for the vehicle; Candidate obstacles located within the specified range are determined from the obstacles, and candidate road boundary points located within the specified range are determined from the road boundary points of the vehicle lane in which the vehicle is traveling. Keeping the center and major-minor axis ratio of the target ellipse unchanged, the target ellipse is expanded until it collides with a collision target among the relevant targets. A straight line passing through the collision point and tangent to the expanded target ellipse is constructed as the initial tangent line. The collision target is any one of the relevant targets. The relevant targets include the candidate obstacles and the candidate road boundary points. The collision point is the point where the collision target collides with the expanded target ellipse. Candidate obstacles and candidate road boundary points located in the non-elliptical region of the relevant targets are deleted to update the relevant targets; the non-elliptical region is the two regions after the initial tangent division, excluding the region of the expanded target ellipse; The expanded target ellipse is used as the new target ellipse. The process of expanding the target ellipse while keeping its center and major-minor axis ratio unchanged is repeated until a collision occurs with a collision target among the relevant targets. A straight line passing through the collision point and tangent to the expanded target ellipse is constructed as the initial tangent line. This process is repeated until all relevant targets are deleted, and all initial tangent lines are obtained as candidate tangent lines. The region enclosed by the candidate tangents is obtained as the initial drivable area of the vehicle.
9. A device for determining a drivable area, characterized in that, The device includes: The acquisition module is used to acquire the initial drivable area of the vehicle; the initial drivable area is a region enclosed by multiple candidate tangents, each of which is tangent to an obstacle around the vehicle. The determination module is used to construct, for each candidate tangent, a straight line passing through the rear axle of the vehicle and parallel to the candidate tangent as the first straight line corresponding to the candidate tangent, and to construct a straight line passing through the corner point of the vehicle closest to the candidate tangent and parallel to the candidate tangent as the second straight line corresponding to the candidate tangent; A construction module is used to construct a straight line parallel to the candidate tangent between the candidate tangent and its corresponding first straight line, based on the candidate tangent, the first straight line corresponding to the candidate tangent, and the second straight line, as the target tangent corresponding to the candidate tangent; The region determination module is used to obtain the region enclosed by the target tangents corresponding to the multiple candidate tangents, as the target drivable region of the vehicle.
10. A vehicle, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the method as described in any one of claims 1-8.
11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores processor-executable program code, which, when executed by the processor, causes the processor to perform the method according to any one of claims 1-8.