Vehicle Motion Planning for Pedestrian Avoidance in Autonomous Parking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current automatic parking assist systems for autonomous vehicles face challenges in effectively detecting and avoiding pedestrians, especially in high-density parking environments with poor lighting and variable pedestrian speeds, leading to a high risk of collisions due to limited network coverage, lack of systematic processing strategies, and inaccurate speed measurements.
Innovation Solution
A vehicle running control method that performs target fusion and environmental cognition using multi-sensor data to identify pedestrian targets and dangerous regions, allowing for longitudinal and lateral speed planning to avoid collisions, incorporating a pedestrian complete collision avoidance data table and danger level recognition to adjust vehicle speed and trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If V2X solutions with auxiliary devices are used for pedestrian detection, then detection capability is improved, but device complexity and adaptability deteriorate due to high requirements on parking lot infrastructure and network coverage
Solution Approach 1:
The patent extracts the essential pedestrian detection function from the complex V2X system, using only the vehicle's existing sensors (ultrasonic, millimeter-wave, camera) to detect pedestrians. This eliminates the need for external parking lot infrastructure and auxiliary devices while maintaining detection capability.
Solution Approach 2:
The patent makes the existing vehicle sensors serve multiple functions: detecting vehicles, obstacles, and pedestrians simultaneously. This multi-functionality eliminates the need for dedicated pedestrian detection devices while improving system adaptability to different parking lot environments.
2Device complexity
If simple coping strategies are used for pedestrian control, then device complexity is reduced, but reliability deteriorates due to mistaken braking and missing braking
Solution Approach 1:
The patent changes the control parameters from simple speed-based control to comprehensive state-based control, considering pedestrian location, motion state, and vehicle-pedestrian distance. This multi-parameter control strategy improves reliability by accurately distinguishing between different pedestrian scenarios to avoid mistaken or missing braking.
3Ease of operation
If pedestrian control is based on motion speed measurement, then control simplicity is improved, but measurement precision deteriorates due to poor speed measurement accuracy and pedestrian behavioral complexity
Solution Approach 1:
The patent replaces the mechanical speed measurement approach with a sensor-based detection system that directly measures pedestrian position and motion state. This substitution eliminates the inaccuracies of speed measurement while maintaining control simplicity through automated sensor processing.
Data Source
Figure 1~2
Figure 3
Figure 4
AI summary
A vehicle running control method, apparatus, and device, and a storage medium are provided. The method includes: performing target fusion and drivable region fusion on a sensor signal on a target vehicle to obtain pedestrian target information and a drivable region signal respectively; performing target cognition and environmental cognition on the target vehicle based on a pedestrian target complete collision avoidance data table and the pedestrian target information, to obtain a dangerous pedestrian signal and a dangerous region signal; and performing longitudinal running speed planning and/or lateral running distance planning on the target vehicle based on the dangerous pedestrian signal, the dangerous region signal, and the drivable region signal, to avoid contact between the target vehicle and a pedestrian target after planning. In the present application, for a pedestrian target outside a vehicle, a control strategy of longitudinal running speed planning and/or lateral running distance planning is used for the vehicle, so that a possibility of contact between the vehicle and the pedestrian is reduced, and the pedestrian target outside is recognized and protected in a running process of the vehicle.