Vehicle driving avoidance method, apparatus, and electronic device

Abstract

The present application relates to the technical field of vehicle control. Provided are a vehicle driving avoidance method, an apparatus, and an electronic device. The vehicle driving avoidance method comprises: acquiring a pending travel time of a vehicle and a target avoidance position of the vehicle; on the basis of the pending travel time and the target avoidance position of the vehicle, acquiring vehicle control parameters corresponding to the pending travel time; according to the vehicle control parameters, determining a path curvature of a route that the vehicle is required to traverse within the pending travel time; and if the path curvature conforms to a preset curvature threshold, using the vehicle control parameters as vehicle avoidance parameters within the pending travel time. The present application can solve the technical problem of unreasonable time allocation during driving avoidance of vehicles.

Description

A vehicle avoidance method, device and electronic equipment

[0001] This application claims priority to Chinese Patent Application No. 202410509309.7, filed on April 25, 2024, entitled "A method, device and electronic device for avoiding collisions while driving a vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle control technology, and more specifically to a vehicle driving avoidance method, device and electronic equipment. Background Technology

[0003] With the development of vehicle technology, autonomous driving technology has been applied in more and more vehicles. However, when a vehicle is driving and avoiding obstacles, it will make relatively complex movements. Therefore, in order to facilitate vehicle control, the vehicle avoidance time is divided into multiple time intervals. Vehicle control parameters are calculated in each time interval, and the vehicle is controlled according to the vehicle control parameters in each time interval.

[0004] However, in related technologies, the time allocation for vehicle avoidance is sometimes unreasonable. For example, the time interval is long for road sections with more complex driving paths, while the vehicle control parameters are singular. This makes it difficult to control the vehicle based on the vehicle control parameters in road sections with more complex driving paths during actual control, thereby reducing vehicle driving safety. On the other hand, the time interval is short for road sections with simpler driving paths, which requires frequent switching of vehicle control parameters in road sections with simpler driving paths. This results in a waste of the vehicle control system's computing power and a prolong of the vehicle's reaction time. Summary of the Invention

[0005] In view of this, embodiments of this application provide a vehicle driving avoidance method, device and electronic device to solve the problem that the division of vehicle driving avoidance time is sometimes unreasonable in the related art.

[0006] In a first aspect, embodiments of this application provide a vehicle avoidance method, comprising the following steps:

[0007] Obtain the vehicle's waiting time and the target avoidance position;

[0008] Based on the waiting time and the vehicle's target avoidance position, obtain the vehicle control parameters corresponding to the waiting time;

[0009] The path curvature of the route the vehicle needs to travel during the waiting time is determined based on the vehicle control parameters.

[0010] If the path curvature meets the preset curvature threshold, the vehicle control parameters will be used as the vehicle avoidance parameters during the waiting time.

[0011] In one possible implementation, obtaining the vehicle's waiting time to travel includes:

[0012] Obtain the time available for the vehicle to avoid a collision;

[0013] The time a vehicle spends avoiding a collision is considered the vehicle's waiting time.

[0014] In one possible implementation, obtaining the vehicle's waiting time to travel includes:

[0015] Obtain the time available for the vehicle to avoid a collision;

[0016] Divide the time for the vehicle to avoid a collision into at least two time intervals;

[0017] Determine one of the at least two time intervals as the vehicle's waiting time to travel.

[0018] One possible implementation also includes:

[0019] Detect whether there are time intervals in at least two time intervals where the corresponding vehicle control parameters were not acquired;

[0020] If it exists, in the time interval where the corresponding vehicle control parameters are not obtained, the first time interval is taken as the new vehicle waiting time in chronological order, and the steps are re-executed based on the waiting time and the vehicle's target avoidance position to obtain the vehicle control parameters corresponding to the waiting time; the first time interval is the time interval that is ranked first in chronological order in the time interval where the corresponding vehicle control parameters are not obtained.

[0021] One possible implementation also includes:

[0022] If not, then during the vehicle's avoidance time, the vehicle's movement is controlled according to the vehicle avoidance parameters for each waiting time in chronological order.

[0023] In one possible implementation, the preset curvature threshold includes a first preset threshold. If the path curvature meets the preset curvature threshold, then the vehicle control parameters are used as vehicle avoidance parameters during the waiting time, including:

[0024] If the path curvature is not greater than the first preset threshold, the vehicle control parameters will be used as the vehicle avoidance parameters during the waiting time.

[0025] In one possible implementation, the method also includes:

[0026] If the path curvature is greater than the first preset threshold, the travel time will be divided into at least two time sub-intervals.

[0027] At least two time sub-intervals are designated as time intervals in which the corresponding vehicle control parameters have not been acquired, and the time intervals in which the corresponding vehicle control parameters have not been acquired are updated.

[0028] In one possible implementation, the preset curvature threshold includes a second preset threshold. If the path curvature meets the preset curvature threshold, then the vehicle control parameters are used as vehicle avoidance parameters during the waiting time, including:

[0029] If the path curvature is not less than the second preset threshold, the vehicle control parameters will be used as the vehicle avoidance parameters during the waiting time.

[0030] In one possible implementation, the method also includes:

[0031] If the path curvature is less than the second preset threshold, the time to be traveled and the second time interval are merged into one time interval. The second time interval is the time interval that is adjacent to the time to be traveled in chronological order and is placed before and / or after the time to be traveled.

[0032] The merged time interval is taken as the time interval for which the corresponding vehicle control parameters have not been obtained, and the time intervals for which the corresponding vehicle control parameters have not been obtained in at least two time intervals are updated.

[0033] In one possible implementation, the method further includes: if the path curvature is less than a second preset threshold, merging the time to be traveled and the second time interval into one time interval, and dividing the merged time interval into at least two sub-time intervals; the second time interval is the time interval that is adjacent to the time to be traveled in chronological order and is located before and / or after the time to be traveled.

[0034] At least two time sub-intervals are designated as time intervals in which the corresponding vehicle control parameters have not been acquired, and the time intervals in which the corresponding vehicle control parameters have not been acquired are updated.

[0035] One possible implementation also includes:

[0036] Based on the vehicle control parameters corresponding to the previous time interval before the driving time, determine the vehicle driving status parameters corresponding to the end time of the previous time interval.

[0037] Use the vehicle driving state parameters corresponding to the end time of the previous time interval as the vehicle driving state parameters corresponding to the initial time of the waiting time.

[0038] Based on the waiting time and the vehicle's target avoidance position, the vehicle control parameters corresponding to the waiting time are obtained, including:

[0039] Obtain the preset vehicle driving constraints;

[0040] Based on the waiting time, the vehicle's target avoidance position, the preset vehicle driving constraints, and the vehicle driving state parameters corresponding to the initial moment of the waiting time, the vehicle control parameters corresponding to the waiting time are obtained.

[0041] Secondly, embodiments of this application provide a vehicle avoidance device, comprising:

[0042] The acquisition unit is used to acquire the vehicle's waiting time and the target avoidance position of the vehicle;

[0043] The processing unit is used to obtain vehicle control parameters corresponding to the waiting time based on the waiting time and the target avoidance position of the vehicle; determine the path curvature of the path that the vehicle needs to travel during the waiting time based on the vehicle control parameters; if the path curvature meets the preset curvature threshold, the vehicle control parameters are used as the vehicle avoidance parameters during the waiting time.

[0044] Thirdly, embodiments of this application provide an electronic device, which includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method provided in the first aspect of embodiments of this application.

[0045] Fourthly, embodiments of this application provide a computer-readable storage medium including a stored program, wherein, when the program is running, it controls the device where the computer-readable storage medium is located to execute the method provided in the first aspect of embodiments of this application.

[0046] Using the solution provided in this application embodiment, if the curvature of the path to be traveled within the waiting time meets the curvature threshold, the vehicle control parameters within the waiting time are used as vehicle avoidance parameters. That is, in this application embodiment, the path curvature is used to measure the complexity of the path to be traveled. If the path curvature meets the curvature threshold, it means that the path to be traveled within the waiting time is neither too complex nor too simple. The vehicle is controlled to avoid collisions based on the vehicle control parameters within the waiting time, so that the path to be traveled is not too complex and has high safety, and the path to be traveled is not too simple, thus avoiding frequent switching of vehicle control parameters when the path to be traveled is too simple, which would lead to a waste of computing power. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0048] Figure 1 is a flowchart illustrating a vehicle driving avoidance method provided in an embodiment of this application;

[0049] Figure 2 is a schematic flowchart of a method for obtaining the waiting time of a vehicle according to an embodiment of this application;

[0050] Figure 3 is a schematic diagram of a vehicle coordinate system provided in an embodiment of this application;

[0051] Figure 4 is a schematic diagram of a vehicle driving avoidance device provided in an embodiment of this application;

[0052] Figure 5 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0053] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0054] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0055] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0056] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0057] Before providing a detailed description of the embodiments of this application, the terms used or possibly used in the embodiments of this application will first be explained.

[0058] In related technologies, when a vehicle performs obstacle avoidance maneuvers, the vehicle undergoes complex movements. Therefore, to facilitate vehicle control, the avoidance time is divided into multiple time intervals. Vehicle control parameters are calculated within each time interval, and the vehicle is controlled based on these parameters within each interval. However, in these technologies, the division of the avoidance time is sometimes unreasonable. For example, the time interval corresponding to a more complex road segment is too long, while the vehicle control parameters are singular. This makes it difficult to control the vehicle based on these parameters during actual control, thus reducing driving safety. Conversely, the time interval corresponding to a simpler road segment is too short, requiring frequent switching of vehicle control parameters in this segment. This results in wasted computational power in the vehicle control system and prolonged vehicle reaction time.

[0059] To address the aforementioned problems, this application provides a vehicle obstacle avoidance method, apparatus, and electronic device to resolve the issue of sometimes unreasonable time allocation for vehicle obstacle avoidance in related technologies. A detailed description follows.

[0060] Referring to Figure 1, a vehicle collision avoidance method provided in an embodiment of this application is shown. As shown in Figure 1, the vehicle collision avoidance method includes the following steps:

[0061] Step S101: Obtain the vehicle's waiting time and the target avoidance position.

[0062] It should be noted that the waiting time is the time during which the vehicle is controlled according to the vehicle control parameters. In some embodiments, the waiting time can be the avoidance time for all vehicles or the avoidance time for some vehicles. The target avoidance position of the vehicle is the safe position after the vehicle has completed the avoidance maneuver. For example, the target avoidance position of the vehicle can be the roadside, a side road, a service area, etc.

[0063] To reasonably divide the vehicle's obstacle avoidance time, this application embodiment determines the reasonableness of the time division based on the path curvature of the required travel path within the waiting time. If the path curvature is neither too large nor too small, it indicates that the complexity of the required travel path within that waiting time is moderate, resulting in high vehicle safety and no wasted computing power. If the waiting time division is reasonable, the vehicle's obstacle avoidance is controlled according to the vehicle control parameters determined within that waiting time. If it is unreasonable, the waiting time is re-acquired until it is reasonable, thus ensuring that each time interval is reasonably divided. Based on this, this application needs to obtain the vehicle's waiting time and target obstacle avoidance position to subsequently determine the path curvature of the required travel path within the waiting time. This application obtains the vehicle's waiting time using the following methods.

[0064] As one possible implementation, in step S101, obtaining the vehicle's waiting time includes:

[0065] Obtain the vehicle's avoidance time and use it as the vehicle's waiting time to travel.

[0066] In other words, the waiting time is the total time for the vehicle to avoid obstacles. This method is suitable for situations where the vehicle's avoidance time is short. When the vehicle's avoidance time is short, in order to save computation and improve the efficiency of vehicle driving and avoidance, there is no need to divide the vehicle's avoidance time; the vehicle's avoidance time can be directly used as the vehicle's waiting time.

[0067] As one possible implementation, as shown in Figure 2, in step S101, obtaining the vehicle's waiting time includes:

[0068] Step S111: Obtain the vehicle's avoidance time;

[0069] Step S112: Divide the vehicle's avoidance time into at least two time intervals;

[0070] Step S113: Determine one of the at least two time intervals as the vehicle's waiting time to travel.

[0071] That is, the waiting time is the part of the vehicle's avoidance time. This method is suitable for situations where the vehicle's avoidance time is long. When the vehicle's avoidance time is long, it is difficult to control the vehicle to make complex and irregular movements within a long period of time. In order to facilitate the control of the vehicle, the vehicle's avoidance time needs to be divided into at least two time intervals, and the vehicle needs to be controlled to drive and avoid the obstacle in each of the two time intervals.

[0072] In some embodiments, dividing the vehicle's avoidance time into at least two time intervals includes: using a discrete time series t0 < t1 < t2 < ... < t k =t f The time for the vehicle to avoid the obstacle [t0,t] f The time interval is divided into K sub-time intervals, and the k-th sub-time interval t is divided into K sub-time intervals using equation (1). (k) ∈[t k-1 ,t k A linear transformation is performed to obtain a new time interval τ. (k) ∈[-1,+1], where t f This refers to the length of time a vehicle needs to avoid a collision.

[0073] Step S102: Based on the waiting time and the target avoidance position of the vehicle, obtain the vehicle control parameters corresponding to the waiting time.

[0074] In this embodiment, controlling the vehicle during the waiting period requires control based on vehicle control parameters. Since the vehicle undergoes complex movements, these parameters differ at different waiting times; therefore, it's necessary to obtain the corresponding vehicle control parameters based on the waiting time. Furthermore, the vehicle's obstacle avoidance maneuvers require it to ultimately reach the target obstacle avoidance position; thus, it's necessary to obtain vehicle control parameters based on the target obstacle avoidance position. In other words, it's about obtaining the vehicle control parameters that are achievable within the waiting time and will enable the vehicle to ultimately reach the target obstacle avoidance position.

[0075] It should be noted that vehicle control parameters are parameters that control the vehicle's driving and obstacle avoidance, such as steering wheel angle and throttle power.

[0076] As one possible implementation, when the vehicle's avoidance time is divided into at least two time intervals, the method also includes:

[0077] Based on the vehicle control parameters corresponding to the previous time interval before the driving time, determine the vehicle driving status parameters corresponding to the end time of the previous time interval.

[0078] Use the vehicle driving state parameters corresponding to the end time of the previous time interval as the vehicle driving state parameters corresponding to the initial time of the waiting time.

[0079] Based on the waiting time and the vehicle's target avoidance position, the vehicle control parameters corresponding to the waiting time are obtained, including:

[0080] Obtain the preset vehicle driving constraints;

[0081] Based on the waiting time, the vehicle's target avoidance position, the preset vehicle driving constraints, and the vehicle driving state parameters corresponding to the initial moment of the waiting time, the vehicle control parameters corresponding to the waiting time are obtained.

[0082] In the embodiments of this application, since the time intervals are adjacent and continuous, the initial time of the time to be traveled is the end time of the previous time interval. Therefore, the vehicle driving state parameters corresponding to the end time of the previous time interval can be used as the vehicle driving state parameters corresponding to the initial time of the time to be traveled. That is, the obtained vehicle control parameters corresponding to the time to be traveled should meet the preset vehicle driving constraints, not conflict with the vehicle driving state parameters corresponding to the initial time of the time to be traveled, and enable the vehicle to eventually reach the target avoidance position.

[0083] It should be noted that vehicle state parameters are parameters that represent the vehicle's driving state, such as vehicle speed and acceleration. Preset vehicle constraints are the conditions that the vehicle state parameters can achieve. In some embodiments, preset vehicle driving constraints include at least one of vehicle boundary constraints, vehicle process constraints, and vehicle stability constraints; wherein, the vehicle boundary constraints are the vehicle's state parameter conditions at the initial and final moments of the avoidance time; the vehicle process constraints are the state parameter conditions that the vehicle must satisfy based on its hardware during driving; and the vehicle stability constraints are the state parameter conditions that the vehicle must satisfy while ensuring safety.

[0084] In some embodiments, the preset vehicle driving constraints are set based on dynamic equations. For example, as shown in Figure 3, a fixed ground coordinate system OXYZ and a fixed vehicle body coordinate system BXYZ are established with the projection of the vehicle's initial center of mass onto the ground and the vehicle's center of mass as the origins, respectively. This yields the longitudinal coordinate x, lateral coordinate y, and azimuth angle of the vehicle's center of mass. The kinematic equations and the equations of motion including the vehicle's longitudinal velocity v x Lateral velocity v y The dynamic equations for the yaw rate γ are:

[0085] In equation (2), The rate of change of the horizontal axis. The rate of change of the lateral coordinate. The azimuth rate of change The rate of change of the vehicle's longitudinal speed. The lateral velocity change rate, I is the rate of change of yaw rate. z Let a be the moment of inertia of the vehicle about an axis perpendicular to its center of mass. x M z and a y The longitudinal acceleration, yaw moment, and lateral acceleration of the vehicle, respectively, can be expressed as:

[0086] In equation (3), m and T f T r L f and L r These are, respectively, the vehicle mass, half the front track width, half the rear track width, and the distance from the vehicle's center of gravity to the front and rear axles, δ. f F is the steering angle of the vehicle's front wheels. xi (i = 1, ..., 4) and F yi (i = 1, ..., 4) represent the longitudinal force and lateral force of the tire, respectively.

[0087] Using a first-order inertial element to approximate the dynamic characteristics of the vehicle steering system and tire forces, we can obtain...

[0088] In equations (4)-(6), The rate of change of the vehicle's front wheel steering angle. This represents the rate of change of longitudinal force in the tire. ε is the rate of change of tire lateral force. δ ε x and ε y Let u be the time constant of a first-order inertial element. δ u xi (i=1,···,4) and u yi (i = 1, ..., 4) represents the vehicle's front wheel steering angle control input and tire force control input.

[0089] By combining the vehicle dynamic equation from equation (2) with the vehicle steering system and tire force dynamic characteristic equations from equations (4) to (6), the state equation for the vehicle active emergency avoidance path planning problem is obtained as follows:

[0090] In equation (7), Let be the rate of change of the state vector. The state vector and control vector are represented as follows: υ=[u δ u xi (i = 1, ..., 4) u yi (i = 1, ..., 4) T (9)

[0091] Then, based on equations (8) and (9), preset vehicle driving constraints are set, including the following steps:

[0092] Setting boundary constraints for vehicles includes:

[0093] In equation (10), t f To predict the duration, v0 and l0 are the initial vehicle speed and road width, respectively, and ρ is the path curvature, which can be expressed as:

[0094] Considering the maximum steering angle δ of the vehicle's front wheels fmax and peak tire-ground adhesion coefficient μ max The process constraints for the vehicle are:

[0095] In equation (12), η is a coefficient, and F zi (i = 1, ..., 4) represents the vertical load on the wheel, which can be expressed as:

[0096] In equations (13)-(16), L, H and g are the vehicle wheelbase, center of gravity height and gravitational acceleration, respectively.

[0097] Furthermore, the handling stability constraints for the state vector of the vehicle active emergency avoidance path planning problem are established as follows:

[0098] In equation (17), β is the sideslip angle of the vehicle's center of gravity. max This represents the maximum permissible sideslip angle of the vehicle's center of gravity.

[0099] Step S103: Determine the path curvature of the route the vehicle needs to travel during the waiting time based on the vehicle control parameters.

[0100] In the embodiments of this application, since the complexity of the required driving path needs to be measured based on the path curvature, it is necessary to determine the path curvature of the required driving path within the waiting time. That is, the greater the path curvature, the more complex the required driving path is; conversely, the smaller the path curvature, the simpler the required driving path is.

[0101] It should be noted that the curvature of the required driving path is usually unique. That is, within a certain waiting time, the vehicle control parameters are usually unique, so the vehicle will only move in one direction within that waiting time, hence the path curvature is unique. For example, if the vehicle control parameters include the steering wheel angle, and the steering wheel angle is 30°, and the vehicle continuously turns 30° within that waiting time, it can be understood that if the waiting time is long enough, the vehicle's driving path within that waiting time will be a circular trajectory, and the curvature of the circle is equal everywhere.

[0102] Step S104: If the path curvature meets the preset curvature threshold, then the vehicle control parameters are used as the vehicle avoidance parameters during the waiting time.

[0103] In other words, if the path curvature meets the preset curvature threshold, it means that it is easier and safer to control the vehicle to travel along the required path during the waiting time. Therefore, the vehicle control parameters can be used as the vehicle avoidance parameters during the waiting time.

[0104] In some embodiments, the required travel path within the time limit can be obtained based on vehicle state parameters and / or vehicle control parameters, and then the path curvature can be calculated based on the radius of the required travel path.

[0105] As one possible implementation, the preset curvature threshold includes a first preset threshold. If the path curvature meets the preset curvature threshold, then the vehicle control parameters are used as vehicle avoidance parameters during the waiting time, including:

[0106] If the path curvature is not greater than the first preset threshold, the vehicle control parameters will be used as the vehicle avoidance parameters during the waiting time.

[0107] That is, if the path curvature is not greater than the first preset threshold, it means that the path curvature is not too large during the waiting time, that is, the vehicle deflection angle is not too large during the waiting time, and it is safer to control the vehicle to travel along the required path. Therefore, the vehicle control parameters can be used as the vehicle avoidance parameters during the waiting time.

[0108] As one possible implementation, the method also includes:

[0109] If the path curvature is greater than the first preset threshold, the travel time will be divided into at least two time sub-intervals.

[0110] At least two time sub-intervals are designated as time intervals in which the corresponding vehicle control parameters have not been acquired, and the time intervals in which the corresponding vehicle control parameters have not been acquired are updated.

[0111] In other words, if the curvature is greater than the first preset threshold, it indicates that the path curvature is too large during the waiting period, meaning that the vehicle's deflection angle is too large during that time. If the vehicle is driven according to this path curvature, it will be difficult to control the vehicle based on the vehicle control parameters for that waiting period, resulting in low vehicle driving safety during that time. Therefore, it is necessary to divide the waiting period into sub-time intervals and obtain new vehicle control parameters within each sub-time interval until the path curvature is less than the first preset threshold.

[0112] In some embodiments, the travel time can be divided into at least two time sub-intervals based on a Lagrange basis function. For example, the travel time can be divided into n sub-time intervals based on a Lagrange basis function. Within these n sub-time intervals, for the k-th sub-time interval, if the path curvature is greater than a first preset threshold, then the k-th sub-time interval is divided into at least two time sub-intervals, where k... <n。

[0113] As one possible implementation, the preset curvature threshold includes a second preset threshold. If the path curvature meets the preset curvature threshold, then the vehicle control parameters are used as vehicle avoidance parameters during the waiting time, including:

[0114] If the path curvature is not less than the second preset threshold, the vehicle control parameters will be used as the vehicle avoidance parameters during the waiting time.

[0115] That is, if the path curvature is not less than the second preset threshold, it means that the path curvature is not too small during the waiting time, the vehicle deflection angle is not too small during the waiting time, and controlling the vehicle to travel according to the required path does not lead to wasted computing power. Therefore, the vehicle control parameters can be used as the vehicle avoidance parameters during the waiting time.

[0116] As one possible implementation, the method also includes:

[0117] If the path curvature is less than the second preset threshold, the time to be traveled and the second time interval are merged into one time interval. The second time interval is the time interval that is adjacent to the time to be traveled in chronological order and is placed before and / or after the time to be traveled.

[0118] The merged time interval is taken as the time interval for which the corresponding vehicle control parameters have not been obtained, and the time intervals for which the corresponding vehicle control parameters have not been obtained in at least two time intervals are updated.

[0119] In other words, if the path curvature is less than the second preset threshold, it means that the path curvature is too small during the waiting time, that is, the vehicle deflection angle is too small during the waiting time. Therefore, this time interval needs to be merged with other time intervals to ensure vehicle driving safety while avoiding frequent switching of vehicle control parameters that would lead to wasted computing power.

[0120] As one possible implementation, the method further includes: if the path curvature is less than a second preset threshold, then the time to be traveled and the second time interval are merged into one time interval, and the merged time interval is divided into at least two sub-time intervals; the second time interval is the time interval that is adjacent to the time to be traveled in chronological order and is ranked before and / or after the time to be traveled.

[0121] At least two time sub-intervals are designated as time intervals in which the corresponding vehicle control parameters have not been acquired, and the time intervals in which the corresponding vehicle control parameters have not been acquired are updated.

[0122] That is, when the waiting time and the second time interval are merged into one time interval, the merged time interval may be too long. In order to avoid the path curvature within the merged time interval being too large due to the excessive length of the merged time interval, it is necessary to divide the merged time interval.

[0123] In some embodiments, a merged time interval can be divided into at least two time sub-intervals based on the Lagrange basis function.

[0124] As one possible implementation, the method also includes:

[0125] Detect whether there are time intervals in at least two time intervals where the corresponding vehicle control parameters were not acquired;

[0126] If it exists, in the time interval where the corresponding vehicle control parameters are not obtained, the first time interval is taken as the new vehicle waiting time in chronological order, and the steps are re-executed based on the waiting time and the vehicle's target avoidance position to obtain the vehicle control parameters corresponding to the waiting time; the first time interval is the time interval that is ranked first in chronological order in the time interval where the corresponding vehicle control parameters are not obtained.

[0127] In the embodiments of this application, when the vehicle's avoidance time is divided into at least two time intervals, it is necessary to obtain the vehicle control parameters for each time interval and control the vehicle according to the vehicle control parameters for each time interval. Therefore, after dividing the vehicle's avoidance time into at least two time intervals, if there is a time interval for which the corresponding vehicle control parameters have not been obtained, it is necessary to obtain the vehicle control parameters corresponding to that time interval. Since in the embodiments of this application, the vehicle needs to be controlled sequentially according to time order, the first time interval is taken as the new vehicle's waiting time according to time order.

[0128] As one possible implementation, it also includes:

[0129] If not, then during the vehicle's avoidance time, the vehicle's movement is controlled according to the vehicle avoidance parameters for each waiting time in chronological order.

[0130] In other words, if it does not exist, it means that the corresponding vehicle control parameters have been obtained for each time interval. Therefore, it is only necessary to control the vehicle to drive according to the vehicle avoidance parameters for each waiting time in chronological order.

[0131] Referring to Figure 4, a vehicle avoidance device is provided according to an embodiment of this application. As shown in Figure 4, the device includes:

[0132] The acquisition unit 401 is used to acquire the vehicle's waiting time and the vehicle's target avoidance position;

[0133] The processing unit 402 is used to obtain vehicle control parameters corresponding to the waiting time based on the waiting time and the target avoidance position of the vehicle; determine the path curvature of the path that the vehicle needs to travel during the waiting time based on the vehicle control parameters; if the path curvature meets the preset curvature threshold, then the vehicle control parameters are used as the vehicle avoidance parameters during the waiting time.

[0134] As one possible implementation, the acquisition unit 401 is specifically used to acquire the vehicle's avoidance time; and to use the vehicle's avoidance time as the vehicle's waiting time.

[0135] As one possible implementation, the acquisition unit 401 is specifically used to acquire the vehicle's avoidance time; divide the vehicle's avoidance time into at least two time intervals; and determine one of the at least two time intervals as the vehicle's waiting time to travel.

[0136] As one possible implementation, the processing unit 402 is specifically used to detect whether there is a time interval in at least two time intervals where the corresponding vehicle control parameters have not been acquired; if so, in the time interval where the corresponding vehicle control parameters have not been acquired, the first time interval is taken as the new vehicle waiting time in chronological order, and the steps are re-executed based on the waiting time and the vehicle's target avoidance position to acquire the vehicle control parameters corresponding to the waiting time; the first time interval is the time interval that is ranked first in chronological order among the time intervals where the corresponding vehicle control parameters have not been acquired.

[0137] As one possible implementation, the processing unit 402 is specifically used to control the vehicle's movement according to the vehicle's avoidance parameters for each waiting time, in chronological order, if the avoidance time does not exist.

[0138] As one possible implementation, the processing unit 402 is specifically used to use the vehicle control parameters as vehicle avoidance parameters during the waiting time if the path curvature is not greater than a first preset threshold. The preset curvature threshold includes the first preset threshold.

[0139] As one possible implementation, the processing unit 402 is specifically used to divide the time to be driven into at least two time sub-intervals if the path curvature is greater than a first preset threshold; and to use the at least two time sub-intervals as time intervals in which the corresponding vehicle control parameters have not been obtained, and to update the time intervals in the at least two time intervals in which the corresponding vehicle control parameters have not been obtained.

[0140] As one possible implementation, the processing unit 402 is specifically used to use the vehicle control parameters as vehicle avoidance parameters during the waiting time if the path curvature is not less than a second preset threshold. The preset curvature threshold includes the second preset threshold.

[0141] As one possible implementation, the processing unit 402 is specifically used to merge the waiting time and the second time interval into one time interval if the path curvature is less than the second preset threshold. The second time interval is the time interval that is adjacent to the waiting time in chronological order and is ranked before and / or after the waiting time. The merged time interval is used as the time interval for which the corresponding vehicle control parameters have not been obtained, and the time interval for which the corresponding vehicle control parameters have not been obtained in the at least two time intervals is updated.

[0142] As one possible implementation, the processing unit 402 is specifically used to merge the time to be driven and the second time interval into one time interval if the path curvature is less than the second preset threshold, and divide the merged time interval into at least two sub-time intervals; the second time interval is the time interval that is adjacent to the time to be driven in chronological order and is ranked before and / or after the time to be driven; the at least two time sub-intervals are used as time intervals in which the corresponding vehicle control parameters have not been obtained, and the time intervals in the at least two time intervals in which the corresponding vehicle control parameters have not been obtained are updated.

[0143] As one possible implementation, the processing unit 402 is specifically used to determine the vehicle driving state parameters corresponding to the end time of the previous time interval based on the vehicle control parameters corresponding to the previous time interval of the waiting time; and to use the vehicle driving state parameters corresponding to the end time of the previous time interval as the vehicle driving state parameters corresponding to the initial time of the waiting time.

[0144] As one possible implementation, the processing unit 402 is specifically used to obtain preset vehicle driving constraints; based on the waiting time, the vehicle's target avoidance position, the preset vehicle driving constraints, and the vehicle driving state parameters corresponding to the initial moment of the waiting time, it obtains the vehicle control parameters corresponding to the waiting time.

[0145] Corresponding to the above embodiments, this application also provides an electronic device. Figure 5 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device 500 may include: a processor 501, a memory 502, and a communication unit 503. These components communicate through one or more buses. Those skilled in the art will understand that the structure of the electronic device shown in the figure does not constitute a limitation on the embodiments of the present invention. It can be a bus topology or a star topology, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0146] The communication unit 503 is used to establish a communication channel, enabling the electronic device to communicate with other devices. It receives user data from other devices or sends user data to other devices.

[0147] The processor 501 serves as the control center of the electronic device, connecting various parts of the device via interfaces and lines. It executes software programs and / or modules stored in the memory 502, and calls data stored in the memory to perform various functions and / or process data. The processor may be composed of integrated circuits (ICs), such as a single packaged IC or multiple packaged ICs with the same or different functions connected together. For example, the processor 501 may consist only of a central processing unit (CPU). In this embodiment, the CPU may have a single processing core or include multiple processing cores.

[0148] The memory 502 is used to store the execution instructions of the processor 501. The memory 502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0149] When the execution instructions in memory 502 are executed by processor 501, the electronic device 500 is able to perform some or all of the steps in the embodiment shown in FIG1.

[0150] In a specific implementation, the present invention also provides a computer storage medium, wherein the computer storage medium may store a program, which, when executed, may include some or all of the steps of the various embodiments of the vehicle driving avoidance method provided by the present invention. The storage medium may be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0151] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0152] The same or similar parts between the various embodiments in this specification can be referred to mutually. In particular, the device embodiments and terminal embodiments are basically similar to the method embodiments, so the description is relatively simple, and the relevant parts can be referred to the description in the method embodiments.

Claims

1. A method for vehicle driving to avoid obstacles, characterized in that, Includes the following steps: Obtain the vehicle's waiting time and the target avoidance position of the vehicle; Based on the waiting time and the target avoidance position of the vehicle, obtain the vehicle control parameters corresponding to the waiting time; The path curvature of the route that the vehicle needs to travel during the waiting time is determined based on the vehicle control parameters. If the path curvature meets a preset curvature threshold, the vehicle control parameters are used as vehicle avoidance parameters during the waiting time.

2. The method according to claim 1, characterized in that, The time required to obtain the vehicle's waiting time includes: Obtain the time available for the vehicle to avoid a collision; The time the vehicle takes to avoid the obstacle is taken as the waiting time for the vehicle to travel.

3. The method according to claim 1, characterized in that, The time required to obtain the vehicle's waiting time includes: Obtain the time available for the vehicle to avoid a collision; The time for the vehicle to avoid the obstacle is divided into at least two time intervals; One of the at least two time intervals is determined as the vehicle's waiting time to travel.

4. The method according to claim 3, characterized in that, Also includes: Detect whether there is a time interval in the at least two time intervals in which the corresponding vehicle control parameters were not acquired; If it exists, then in the time interval where the corresponding vehicle control parameters are not obtained, the first time interval is taken as the new vehicle waiting time in chronological order, and the steps are re-executed based on the waiting time and the target avoidance position of the vehicle to obtain the vehicle control parameters corresponding to the waiting time; the first time interval is the time interval that is ranked first in chronological order among the time intervals where the corresponding vehicle control parameters are not obtained.

5. The method according to claim 4, characterized in that, Also includes: If not, then during the vehicle's avoidance time, the vehicle's driving is controlled according to the vehicle avoidance parameters for each waiting time in chronological order.

6. The method according to claim 3, characterized in that, The preset curvature threshold includes a first preset threshold, and the step of using the vehicle control parameters as vehicle avoidance parameters during the waiting time if the path curvature meets the preset curvature threshold includes: If the path curvature is not greater than the first preset threshold, then the vehicle control parameters are used as vehicle avoidance parameters during the waiting time.

7. The method according to claim 6, characterized in that, The method further includes: If the path curvature is greater than the first preset threshold, the time to travel is divided into at least two time sub-intervals. The at least two time sub-intervals are used as time intervals in which the corresponding vehicle control parameters have not been acquired, and the time intervals in which the corresponding vehicle control parameters have not been acquired are updated.

8. The method according to claim 3, characterized in that, The preset curvature threshold includes a second preset threshold, and the step of using the vehicle control parameters as vehicle avoidance parameters during the waiting time if the path curvature meets the preset curvature threshold includes: If the path curvature is not less than the second preset threshold, then the vehicle control parameters are used as vehicle avoidance parameters during the waiting time.

9. The method according to claim 8, characterized in that, The method further includes: If the path curvature is less than the second preset threshold, the time to be driven and the second time interval are merged into one time interval. The second time interval is the time interval that is adjacent to the time to be driven in chronological order and is placed before and / or after the time to be driven. The merged time interval is taken as the time interval for which the corresponding vehicle control parameters have not been obtained, and the time interval for which the corresponding vehicle control parameters have not been obtained in the at least two time intervals is updated.

10. The method according to claim 8, characterized in that, The method further includes: if the path curvature is less than the second preset threshold, then merging the time to be driven and the second time interval into one time interval, and dividing the merged time interval into at least two sub-time intervals; the second time interval is the time interval that is adjacent to the time to be driven in chronological order and is located before and / or after the time to be driven. The at least two time sub-intervals are used as time intervals in which the corresponding vehicle control parameters have not been acquired, and the time intervals in which the corresponding vehicle control parameters have not been acquired are updated.

11. The method according to claim 3, characterized in that, Also includes: Based on the vehicle control parameters corresponding to the previous time interval of the waiting time, determine the vehicle driving status parameters corresponding to the end time of the previous time interval. The vehicle driving status parameters corresponding to the end time of the previous time interval are used as the vehicle driving status parameters corresponding to the initial time of the waiting time. The process of obtaining the vehicle control parameters corresponding to the waiting time based on the waiting time and the target avoidance position of the vehicle includes: Obtain preset vehicle driving constraints; Based on the waiting time, the target avoidance position of the vehicle, the preset vehicle driving constraints, and the vehicle driving state parameters corresponding to the initial time of the waiting time, the vehicle control parameters corresponding to the waiting time are obtained.

12. A vehicle avoidance device, characterized in that, include: The acquisition unit is used to acquire the vehicle's waiting time and the target avoidance position of the vehicle; The processing unit is used to obtain vehicle control parameters corresponding to the waiting time based on the waiting time and the target avoidance position of the vehicle. The path curvature of the route the vehicle needs to travel during the waiting time is determined based on the vehicle control parameters; if the path curvature meets a preset curvature threshold, the vehicle control parameters are used as the vehicle avoidance parameters during the waiting time.

13. An electronic device, characterized in that, The device includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to perform the method according to any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method of any one of claims 1-11.

Images