Vehicle
Through the environment sensing device and controller combined with the vehicle dynamic model, an open loop trajectory is generated, and the forward and backward alternating methods are adopted to solve the problem of difficult vehicle turnover in narrow roads, and a fast and flexible turnover operation is achieved.
Patent Information
- Application Number
- CN202422170677.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2025-08-26
- Estimated Expiration
- 2034-09-04
AI Technical Summary
The existing automatic parking and turn-around systems have high space requirements in narrow road environments, making it difficult to quickly complete turn-around operations, especially in narrow areas such as city streets and parking lots, which require multiple adjustments and corrections.
The perceived data is obtained through the environment perception device. The controller controls the vehicle's turn with the actual turning radius greater than the minimum turning radius according to the perceived data. It generates an open loop trajectory in combination with the vehicle dynamic model, and uses the method of alternating forward and backward to reduce the space required for turning.
It realizes the flexibly turning vehicles in narrow roads, reduces the space required for turning, improves the speed and flexibility of operations, and adapts to dynamically changing road environments.
Smart Images
Figure CN223266776U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of vehicles, in particular to a vehicle. Background Art
[0002] Currently, existing automated parking and U-turn systems typically rely on a vehicle's minimum turning radius, requiring a high level of space. On narrow roads, vehicles require ample space for U-turns, making them particularly challenging in real-world driving environments, particularly in confined areas like city streets and parking lots. For example, conventional automated parking systems require multiple adjustments and corrections when faced with tight parking spaces, making it difficult to quickly complete U-turns in the confined space. Utility Model Content
[0003] The main purpose of the utility model is to provide a vehicle, which is intended to achieve rapid U-turn.
[0004] To achieve the above-mentioned object, the present invention provides a vehicle, which includes a controller and an environment sensing device;
[0005] The environmental perception device is used to obtain perception data;
[0006] There is a communication connection between the controller and the environmental perception device, and the controller is used to obtain perception data from the environmental perception device through the communication connection, and control the vehicle to turn with an actual turning radius greater than the minimum turning radius according to the perception data.
[0007] In one embodiment, the controller includes an environment construction module, and there is a first communication connection between the environment construction module and the environment perception device. The environment construction module is used to obtain perception data from the environment perception device through the first communication connection, and construct a vehicle virtual environment based on the perception data.
[0008] In one embodiment, the controller includes a trajectory generation module, and a second communication connection is established between the trajectory generation module and the environment construction module. The trajectory generation module is used to obtain the vehicle virtual environment from the environment construction module through the second communication connection, and generate a vehicle trajectory based on the vehicle virtual environment and an actual turning radius greater than the minimum turning radius.
[0009] In one embodiment, the vehicle trajectory is generated in an open-loop manner according to the vehicle virtual environment and an actual turning radius that is larger than a minimum turning radius.
[0010] In one embodiment, the controller includes a vehicle control module, and a third communication connection exists between the vehicle control module and the trajectory generation module. The vehicle control module is used to obtain the vehicle trajectory from the trajectory generation module through the third communication connection and control the vehicle movement according to the vehicle trajectory.
[0011] In one embodiment, the controller includes an angle comparison module, and there is a fourth communication connection between the angle comparison module and the environmental perception device. The angle comparison module is used to obtain the vehicle heading angle and the road heading angle from the environmental perception device through the fourth communication connection, and determine whether the vehicle has completed the preset travel based on the vehicle heading angle and the road heading angle.
[0012] In one embodiment, the controller further includes a vehicle-computer interaction module, and the vehicle-computer interaction module is used to obtain interaction instructions;
[0013] There is a fifth communication connection between the vehicle control module and the vehicle-machine interaction module. The vehicle control module is used to obtain interaction instructions from the vehicle-machine interaction module through the fifth communication connection, and control the vehicle to achieve interaction according to the interaction instructions.
[0014] In one embodiment, the interactive instruction includes a preset instruction specifying a vehicle heading angle;
[0015] The controller includes an angle comparison module, and a fourth communication connection is established between the angle comparison module and the environmental perception device. The angle comparison module is used to obtain the vehicle heading angle from the environmental perception device through the fourth communication connection, and determine whether the vehicle has completed the preset travel based on the vehicle heading angle and the target heading angle specified by the preset instruction.
[0016] In one embodiment, the environment perception device includes at least one sensor selected from the group consisting of a laser radar, a camera, and an ultrasonic sensor.
[0017] In one embodiment, the controller includes an emergency obstacle avoidance module, and there is a sixth communication connection between the emergency obstacle avoidance module and the environmental perception device. The emergency obstacle avoidance module is used to obtain perception data from the environmental perception device through the sixth communication connection, and control the vehicle to perform emergency obstacle avoidance according to the perception data.
[0018] This utility model utilizes a controller to obtain sensory data from an environmental sensor device and, based on this data, controls the vehicle to turn with an actual turning radius greater than the minimum turning radius. This reduces the space required for U-turns and enables the vehicle to flexibly turn on narrow roads. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.
[0020] Figure 1 This is a structural diagram of an embodiment provided by the utility model.
[0021] Description of Figure Numbers:
[0022] 1. Vehicle;
[0023] 2. Controller;
[0024] 3. Environmental sensing device;
[0025] 4. Environment construction module;
[0026] 5. Trajectory generation module;
[0027] 6. Vehicle control module;
[0028] 7. Angle comparison module;
[0029] 8. Vehicle-computer interaction module;
[0030] 9. Emergency obstacle avoidance module.
[0031] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.
[0033] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.
[0034] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.
[0035] In the prior art, vehicle U-turns often rely on the driver's experience and operational skills. Especially on narrow roads or in complex environments, the driver needs to move forward and backward multiple times to complete the U-turn. This method is not only time-consuming but also prone to safety hazards.
[0036] The present invention provides a vehicle 1. Figure 1 , in one embodiment of the present utility model, the vehicle 1 includes a controller 2 and an environment sensing device 3;
[0037] The environment perception device 3 is used to obtain perception data;
[0038] There is a communication connection between the controller 2 and the environmental perception device 3. The controller 2 is used to obtain perception data from the environmental perception device 3 through the communication connection, and control the vehicle 1 to turn with an actual turning radius greater than the minimum turning radius based on the perception data.
[0039] The present invention utilizes environmental sensing device 3 to obtain sensory data, which is then retrieved by controller 2. Based on this sensory data, the vehicle 1 is controlled to turn with an actual turning radius greater than the minimum turning radius. This reduces the space required for U-turns and enables the vehicle 1 to flexibly perform U-turns on narrow roads.
[0040] In one embodiment, a trajectory is generated based on an actual turning radius that is 30% greater than the minimum turning radius using a dynamic model of the vehicle 1 , thereby reducing the space required for a U-turn and enabling the vehicle 1 to flexibly make a U-turn in a narrow road.
[0041] It should be noted that the basic turning radius for generating the trajectory can be calculated based on the dynamic model of the vehicle 1 , including the turning radius, the tire friction coefficient, etc.
[0042] In one embodiment, the controller 2 includes an environment construction module 4, and there is a first communication connection between the environment construction module 4 and the environment perception device 3. The environment construction module 4 is used to obtain perception data from the environment perception device 3 through the first communication connection, and construct a virtual environment of the vehicle 1 based on the perception data.
[0043] In one embodiment, the controller 2 includes a trajectory generation module 5, and a second communication connection exists between the trajectory generation module 5 and the environment construction module 4. The trajectory generation module 5 is used to obtain the virtual environment of the vehicle 1 from the environment construction module 4 through the second communication connection, and generate the trajectory of the vehicle 1 according to the virtual environment of the vehicle 1 and the actual turning radius greater than the minimum turning radius.
[0044] Existing autonomous driving technologies include some methods that can be used to perform U-turns on vehicle 1. For example, some high-end vehicles 1 are equipped with automatic parking systems that can complete U-turns in certain situations. However, these systems typically rely on pre-set paths and environmental information and are unable to adapt to dynamically changing road conditions. Furthermore, many existing autonomous driving and U-turn systems rely on pre-set paths and environmental information. This approach lacks flexibility in the face of dynamically changing environments and has difficulty adapting to actual road conditions. For example, autonomous driving systems based on pre-set paths often fail to adjust in time when encountering sudden obstacles or road changes, resulting in U-turn failures or the need for manual intervention.
[0045] In this embodiment, combined with environmental detection and multiple forward and reverse adjustments, the surrounding environment is detected in real time by sensors, and the trajectory is dynamically adjusted according to the current position of vehicle 1 and the position of obstacles, ensuring that vehicle 1 can respond flexibly and quickly complete the U-turn operation in a dynamically changing road environment.
[0046] In one embodiment, the trajectory of the vehicle 1 is generated in an open-loop manner according to the virtual environment of the vehicle 1 and an actual turning radius that is larger than the minimum turning radius.
[0047] While existing path planning algorithms, such as the A* algorithm and the Dijkstra algorithm, can generate optimal paths, they are computationally intensive and time-consuming in complex environments. This presents a significant drawback in autonomous driving applications, which require high real-time performance. For example, in a dynamically changing environment, path planning algorithms require constant updates of path information, resulting in a dramatic increase in computational complexity and impacting the system's real-time response.
[0048] In this embodiment, an open-loop trajectory generation method is adopted, which simplifies the calculation process, reduces the requirements for real-time computing capabilities, improves the response speed of the system, and can quickly generate trajectories in complex environments.
[0049] In one embodiment, the controller 2 includes a vehicle control module 6, and there is a third communication connection between the vehicle control module 6 and the trajectory generation module 5. The vehicle control module 6 is used to obtain the trajectory of the vehicle 1 from the trajectory generation module 5 through the third communication connection, and control the movement of the vehicle 1 according to the trajectory of the vehicle 1.
[0050] This embodiment proposes a geometry-based rapid U-turn adjustment method. By detecting the drivable environment and utilizing the dynamic model of vehicle 1, an open-loop trajectory is generated with an arc of 70% of the minimum turning radius, and the trajectory adjustment is performed alternately in forward and reverse directions, so that vehicle 1 can complete the U-turn operation quickly and efficiently.
[0051] In one embodiment, vehicle 1 travels forward along a generated initial trajectory. When vehicle 1 reaches a predetermined endpoint, approaches the road edge, or detects an obstacle, it stops moving. After stopping forward, vehicle 1 begins reversing toward the right rear. The reversing trajectory is also generated using an arc radius of 70% of the minimum turning radius to ensure smooth maneuvering. By reversing, vehicle 1 gradually moves away from the obstacle or road edge, preparing for the next forward maneuver.
[0052] In one embodiment, the controller 2 includes an angle comparison module 7, and there is a fourth communication connection between the angle comparison module 7 and the environmental perception device 3. The angle comparison module 7 is used to obtain the vehicle 1 heading angle and the road heading angle from the environmental perception device 3 through the fourth communication connection, and determine whether the vehicle 1 has completed the preset travel based on the vehicle 1 heading angle and the road heading angle.
[0053] In one embodiment, the U-turn operation is completed by detecting the heading angle of the vehicle 1 and the road heading angle. Specifically, the heading angle can be the orientation angle of the vehicle 1 with respect to the true north direction as a reference angle.
[0054] In one embodiment, the controller 2 includes an angle comparison module 7, and there is a fourth communication connection between the angle comparison module 7 and the environmental perception device 3. The angle comparison module 7 is used to obtain the vehicle 1 heading angle and the road heading angle from the environmental perception device 3 through the fourth communication connection, and determine whether the vehicle 1 has completed the preset travel based on the vehicle 1 heading angle and the road heading angle.
[0055] The forward and reverse processes alternate, gradually adjusting the position and heading of vehicle 1. With each adjustment, vehicle 1's position and heading gradually approach the target position. The U-turn is complete when the difference between vehicle 1's heading and the road's heading falls below a set threshold. That is, after multiple forward and reverse adjustments, sensors detect and compare vehicle 1's heading and the road's heading. When the difference between vehicle 1's heading and the road's heading falls below a set threshold, vehicle 1's position and posture meet the requirements for the U-turn, and the operation is complete.
[0056] In one embodiment, the controller 2 further includes a vehicle-computer interaction module 8, and the vehicle-computer interaction module is used to obtain interaction instructions;
[0057] There is a fifth communication connection between the vehicle control module 6 and the vehicle-machine interaction module 8. The vehicle control module 6 is used to obtain interaction instructions from the vehicle-machine interaction module 8 through the fifth communication connection, and control the vehicle 1 to achieve interaction according to the interaction instructions.
[0058] In this embodiment, the vehicle 1 can also be controlled to achieve interaction according to the interaction instructions obtained from the vehicle-computer interaction module 8, such as the setting instructions for the actual turning radius of the vehicle 1, the setting instructions for the turning angle of the vehicle 1, etc.
[0059] In one embodiment, the interactive instruction includes a preset instruction specifying a heading angle of the vehicle 1;
[0060] The controller 2 includes an angle comparison module 7, and there is a fourth communication connection between the angle comparison module 7 and the environmental perception device 3. The angle comparison module 7 is used to obtain the heading angle of the vehicle 1 from the environmental perception device 3 through the fourth communication connection, and determine whether the vehicle 1 has completed the preset travel based on the heading angle of the vehicle 1 and the target heading angle specified by the preset instruction.
[0061] In this embodiment, the angle comparison module 7 obtains the heading angle of the vehicle 1 from the environment perception device 3 and further determines whether the vehicle 1 completes the preset travel according to the heading angle of the vehicle 1 and the target heading angle specified by the preset instruction.
[0062] In one embodiment, the environment perception device 3 includes at least one of a laser radar, a camera, and an ultrasonic sensor. The sensor (such as a laser radar, a camera, an ultrasonic sensor, etc.) is used to scan the environment around the vehicle 1 to identify the drivable area and the location of obstacles.
[0063] In one embodiment, the controller 2 includes an emergency obstacle avoidance module 9, and there is a sixth communication connection between the emergency obstacle avoidance module 9 and the environmental perception device 3. The emergency obstacle avoidance module 9 is used to obtain perception data from the environmental perception device 3 through the sixth communication connection, and control the vehicle 1 to perform emergency obstacle avoidance according to the perception data.
[0064] After constructing the environment model and determining the current position of the vehicle 1, the road boundary, and the relative position of obstacles, the emergency obstacle avoidance module 9 obtains perception data from the environment perception device 3 and controls the vehicle 1 to perform emergency obstacle avoidance based on the perception data.
[0065] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims
1. A vehicle, characterized in that: The vehicle includes a controller and an environment perception device; The environmental perception device is used to obtain perception data; There is a communication connection between the controller and the environmental perception device, and the controller is used to obtain perception data from the environmental perception device through the communication connection, and control the vehicle to turn with an actual turning radius greater than the minimum turning radius according to the perception data.
2. The vehicle according to claim 1, wherein: The controller includes an environment construction module. There is a first communication connection between the environment construction module and the environment perception device. The environment construction module is used to obtain perception data from the environment perception device through the first communication connection and construct a vehicle virtual environment based on the perception data.
3. The vehicle according to claim 2, wherein: The controller includes a trajectory generation module. A second communication connection is established between the trajectory generation module and the environment construction module. The trajectory generation module is configured to obtain a vehicle virtual environment from the environment construction module through the second communication connection, and generate a vehicle trajectory based on the vehicle virtual environment and an actual turning radius greater than a minimum turning radius.
4. The vehicle according to claim 3, wherein: A vehicle trajectory is generated in an open-loop manner according to the vehicle virtual environment and an actual turning radius that is greater than a minimum turning radius.
5. The vehicle according to claim 3, wherein: The controller includes a vehicle control module. A third communication connection exists between the vehicle control module and the trajectory generation module. The vehicle control module is configured to obtain a vehicle trajectory from the trajectory generation module via the third communication connection and control the vehicle to move according to the vehicle trajectory.
6. The vehicle according to claim 5, wherein: The controller includes an angle comparison module, and a fourth communication connection exists between the angle comparison module and the environmental perception device. The angle comparison module is used to obtain the vehicle heading angle and the road heading angle from the environmental perception device through the fourth communication connection, and determine whether the vehicle has completed the preset travel based on the vehicle heading angle and the road heading angle.
7. The vehicle according to claim 5, wherein: The controller further includes a vehicle-computer interaction module, and the vehicle-computer interaction module is used to obtain interaction instructions; There is a fifth communication connection between the vehicle control module and the vehicle-machine interaction module. The vehicle control module is used to obtain interaction instructions from the vehicle-machine interaction module through the fifth communication connection, and control the vehicle to achieve interaction according to the interaction instructions.
8. The vehicle according to claim 7, wherein: The interactive instruction includes a preset instruction for specifying a vehicle heading angle; The controller includes an angle comparison module, and a fourth communication connection is established between the angle comparison module and the environmental perception device. The angle comparison module is used to obtain the vehicle heading angle from the environmental perception device through the fourth communication connection, and determine whether the vehicle has completed the preset travel based on the vehicle heading angle and the target heading angle specified by the preset instruction.
9. The vehicle according to claim 1, wherein: The environment perception device includes at least one sensor selected from the group consisting of a laser radar, a camera, and an ultrasonic sensor.
10. The vehicle according to claim 1, wherein: The controller includes an emergency obstacle avoidance module. There is a sixth communication connection between the emergency obstacle avoidance module and the environmental perception device. The emergency obstacle avoidance module is used to obtain perception data from the environmental perception device through the sixth communication connection and control the vehicle to perform emergency obstacle avoidance according to the perception data.