CN117622227A - Vehicle lane changing obstacle avoidance control method and device - Google Patents
Vehicle lane changing obstacle avoidance control method and device Download PDFInfo
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Abstract
The application provides a vehicle lane change obstacle avoidance control method and device, wherein the method comprises the following steps: acquiring vehicle running information of a target vehicle in the running process; determining a first coordinate positioning of a target vehicle and a second coordinate positioning of a target obstacle according to vehicle running information; according to the first coordinate positioning and the second coordinate positioning, lane changing obstacle avoidance simulation of the target vehicle is carried out, and a plurality of lane changing obstacle avoidance simulation routes are obtained; drawing a plurality of obstacle avoidance track curves according to the lane change obstacle avoidance simulation route; screening a plurality of obstacle avoidance track curves under a preset constraint condition to obtain a target lane change obstacle avoidance route set; determining an evasive driving area according to the target lane change obstacle avoidance route set; and controlling the target vehicle to change the lane to avoid the obstacle according to the avoidable driving area and the target lane-changing obstacle-avoiding route set. Therefore, the method and the device can automatically realize control decision along with the change of the road surface, thereby improving the adaptability of complex road surface conditions.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a lane changing obstacle avoidance control method and device for a vehicle.
Background
At present, in the recent era background of rapid development of intelligent networking of vehicles, intelligent vehicles become an important carrier driven by big data and bear key demands for intelligent travel, intelligent traffic and intelligent city development. Meanwhile, the vehicle intellectualization not only brings subversion revolution of the automobile industry, but also deeply influences industry ecology in a plurality of industry fields. Advances in autopilot technology also benefit from the development and cross-fusion of multiple aspects of technology for materials, intelligence, images, sensors, etc. With the rapid development of artificial intelligent algorithms, wireless communication technologies and intelligent sensing technologies, a track planning method is important as an essential link for realizing automatic driving. The existing vehicle lane change obstacle avoidance control method generally needs to determine an obstacle avoidance strategy according to the curvature of a road, the collision time of a vehicle and an obstacle and the obstacle avoidance area and constraint conditions of an adjacent lane by acquiring the running state information, the position information and the road information of the vehicle and the obstacle, and fit an optimal collision avoidance path. However, in practice it has been found that the existing methods are computationally intensive, thereby reducing the trajectory planning efficiency.
Disclosure of Invention
The embodiment of the application aims to provide a vehicle lane changing obstacle avoidance control method and device, which can continuously update and control the lane changing obstacle avoidance of a vehicle, have small calculated amount and high planning efficiency, and can automatically realize control decisions along with the change of a road surface, so that the provided intelligent driving lane changing obstacle avoidance track planning control method can be more suitable for complex road surface conditions.
The first aspect of the application provides a vehicle lane change obstacle avoidance control method, which comprises the following steps:
acquiring vehicle running information of a target vehicle in the running process;
determining a first coordinate positioning of the target vehicle and a second coordinate positioning of a target obstacle according to the vehicle running information;
according to the first coordinate positioning and the second coordinate positioning, lane changing obstacle avoidance simulation of the target vehicle is carried out, and a plurality of lane changing obstacle avoidance simulation routes are obtained;
drawing a plurality of obstacle avoidance track curves according to the lane change obstacle avoidance simulation route;
screening a plurality of obstacle avoidance track curves under a preset constraint condition to obtain a target lane change obstacle avoidance route set;
determining an evasive driving area according to the target lane change obstacle avoidance route set;
and controlling the target vehicle to change the lane and avoid the obstacle according to the avoidable driving area and the target lane-changing obstacle-avoiding route set.
Further, the determining the first coordinate positioning of the target vehicle and the second coordinate positioning of the target obstacle according to the vehicle running information includes:
determining a target obstacle according to the vehicle running information;
constructing a coordinate system according to a preset coordinate system construction rule; the direction of the x axis of the coordinate system is the advancing direction of the target vehicle, the direction of the y axis of the coordinate system is perpendicular to the direction of the x axis, the y axis is parallel to the road surface on which the target vehicle runs, and the origin of the coordinate system is the mass center of the target vehicle;
and determining a first coordinate positioning of the target vehicle and a second coordinate positioning of the target obstacle according to the coordinate system and the vehicle running information.
Further, the lane change obstacle avoidance simulation of the target vehicle is performed according to the first coordinate positioning and the second coordinate positioning, so as to obtain a plurality of lane change obstacle avoidance simulation routes, including:
taking the first coordinate positioning as a starting point, and carrying out lane changing obstacle avoidance simulation of the target vehicle based on the second coordinate positioning and a three-point positioning mode to obtain a plurality of lane changing obstacle avoidance simulation routes; the three-point positioning mode comprises a starting point, a parallel point between the target vehicle and the target obstacle and an end point of the vehicle lane change overrun obstacle, wherein the starting point is the first coordinate positioning.
Further, the constraint conditions include a boundary constraint, a turning radius constraint, and a vehicle speed constraint.
Further, under a preset constraint condition, screening the plurality of obstacle avoidance trajectory curves to obtain a target lane change obstacle avoidance route set, including:
judging whether the obstacle avoidance track curves do not meet the preset constraint conditions;
if not, screening a plurality of obstacle avoidance track curves according to preset constraint conditions to obtain at least one track curve conforming to the constraint conditions;
and summarizing the at least one track curve to obtain a target lane change obstacle avoidance route set.
Further, the determining the evasive driving area according to the target lane-changing obstacle avoidance route set includes:
determining the longest lane change obstacle avoidance route and the shortest lane change obstacle avoidance route in the target lane change obstacle avoidance route set;
and determining an evasive driving area according to the longest lane change obstacle avoidance route and the shortest lane change obstacle avoidance route.
A second aspect of the present application provides a vehicle lane-changing obstacle avoidance control device, the vehicle lane-changing obstacle avoidance control device comprising:
an acquisition unit configured to acquire vehicle travel information of a target vehicle during travel;
a first determining unit configured to determine a first coordinate positioning of the target vehicle and a second coordinate positioning of a target obstacle according to the vehicle running information;
the simulation unit is used for carrying out lane change obstacle avoidance simulation of the target vehicle according to the first coordinate positioning and the second coordinate positioning to obtain a plurality of lane change obstacle avoidance simulation routes;
the drawing unit is used for drawing a plurality of obstacle avoidance track curves according to the lane change obstacle avoidance simulation route;
the screening unit is used for screening the plurality of obstacle avoidance track curves under the preset constraint condition to obtain a target lane change obstacle avoidance route set;
the second determining unit is used for determining an evasive driving area according to the target lane change obstacle avoidance route set;
and the control unit is used for controlling the target vehicle to change the lane and avoid the obstacle according to the avoidable driving area and the target lane-changing obstacle-avoiding route set.
Further, the first determination unit includes:
a first determination subunit configured to determine a target obstacle according to the vehicle running information;
the construction subunit is used for constructing a coordinate system according to a preset coordinate system construction rule; the direction of the x axis of the coordinate system is the advancing direction of the target vehicle, the direction of the y axis of the coordinate system is perpendicular to the direction of the x axis, the y axis is parallel to the road surface on which the target vehicle runs, and the origin of the coordinate system is the mass center of the target vehicle;
and the second determining subunit is used for determining the first coordinate positioning of the target vehicle and the second coordinate positioning of the target obstacle according to the coordinate system and the vehicle running information.
Further, the simulation unit is specifically configured to perform lane changing obstacle avoidance simulation of the target vehicle based on the second coordinate positioning and the three-point positioning by using the first coordinate positioning as a starting point, so as to obtain a plurality of lane changing obstacle avoidance simulation routes; the three-point positioning mode comprises a starting point, a parallel point between the target vehicle and the target obstacle and an end point of the vehicle lane change overrun obstacle, wherein the starting point is the first coordinate positioning.
Further, the constraint conditions include a boundary constraint, a turning radius constraint, and a vehicle speed constraint.
Further, the screening unit includes:
the judging subunit is used for judging whether the obstacle avoidance track curves do not meet the preset constraint conditions;
a screening subunit, configured to screen, when the plurality of obstacle avoidance trajectory curves do not all conform to the preset constraint condition, the plurality of obstacle avoidance trajectory curves according to the preset constraint condition, so as to obtain at least one trajectory curve that conforms to the constraint condition;
and the summarizing subunit is used for summarizing the at least one track curve to obtain a target lane change obstacle avoidance route set.
Further, the second determining unit is specifically configured to determine a longest lane-changing obstacle-avoiding route and a shortest lane-changing obstacle-avoiding route in the target lane-changing obstacle-avoiding route set;
the second determining unit is specifically further configured to determine an evasive driving area according to the longest lane change obstacle avoidance route and the shortest lane change obstacle avoidance route.
A third aspect of the present application provides an electronic device, including a memory and a processor, where the memory is configured to store a computer program, and the processor is configured to execute the computer program to cause the electronic device to execute the vehicle lane change obstacle avoidance control method according to any one of the first aspect of the present application.
A fourth aspect of the present application provides a computer readable storage medium storing computer program instructions which, when read and executed by a processor, perform the vehicle lane change obstacle avoidance control method of any of the first aspects of the present application.
The beneficial effects of this application are: the method and the device can continuously update and control the lane changing and obstacle avoidance of the vehicle, and achieve the effects of small calculated amount and high planning efficiency. Meanwhile, control decisions can be automatically realized along with the change of the road surface, so that the provided intelligent driving lane changing obstacle avoidance track planning control method can be more suitable for complex road surface conditions.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a vehicle lane change obstacle avoidance control method provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of another vehicle lane changing obstacle avoidance control method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a lane-changing obstacle avoidance control device for a vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of another vehicle lane-changing obstacle avoidance control device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a vehicle lane changing obstacle avoidance control method according to the present embodiment. The vehicle lane change obstacle avoidance control method comprises the following steps:
s101, acquiring vehicle running information of a target vehicle in the running process.
S102, determining a first coordinate positioning of a target vehicle and a second coordinate positioning of a target obstacle according to vehicle running information.
In this embodiment, the method may further acquire information on the running of the current vehicle, and construct coordinate positioning of the vehicle and the obstacle according to the acquired information.
S103, performing lane change obstacle avoidance simulation of the target vehicle according to the first coordinate positioning and the second coordinate positioning to obtain a plurality of lane change obstacle avoidance simulation routes.
In the embodiment, the method can simulate the lane changing and obstacle avoidance route of the vehicle according to the coordinate positioning, and draw an obstacle avoidance track curve.
S104, drawing a plurality of obstacle avoidance track curves according to the lane change obstacle avoidance simulation route.
S105, screening the plurality of obstacle avoidance track curves under a preset constraint condition to obtain a target lane change obstacle avoidance route set.
In the present embodiment, the constraint conditions include a boundary constraint, a turning radius constraint, and a vehicle speed constraint.
In the embodiment, the method can screen the vehicle lane changing obstacle avoidance route conforming to the constraint condition under the constraint condition.
S106, determining an evasive driving area according to the target lane change obstacle avoidance route set.
In this embodiment, the method may determine the evasive driving area according to the screening result.
S107, controlling the target vehicle to change the lane and avoid the obstacle according to the evasive driving area and the target lane change obstacle avoidance route set.
In this embodiment, the method may control the lane changing and obstacle avoidance of the vehicle according to the avoidable driving area.
By implementing the implementation mode, the method can be used for constructing the coordinate positioning of the vehicle and the obstacle according to the acquired information by acquiring the information of the current vehicle in running, simulating the lane-changing obstacle avoidance route of the vehicle according to the coordinate positioning, and drawing an obstacle avoidance track curve. Under constraint conditions, the method can screen the route of vehicle lane changing obstacle avoidance meeting the constraint conditions, then determine an evasive driving area according to screening results, and finally control the vehicle lane changing obstacle avoidance according to the evasive driving area. Therefore, the intelligent driving lane-changing obstacle avoidance trajectory planning control method provided by the method can improve the safety, the comfort and the driving efficiency of the active obstacle avoidance of the vehicle during driving; meanwhile, the track planning process can be greatly simplified. Based on the method, the method has wide application prospect.
In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In this embodiment, the execution body of the method may be an intelligent device such as a smart phone or a tablet computer, which is not limited in this embodiment.
Therefore, by implementing the vehicle lane-changing obstacle avoidance control method described in the embodiment, the simulation of the vehicle lane-changing obstacle avoidance route can be performed based on the current vehicle position point, the parallel point of the vehicle and the obstacle and the position point when the vehicle lane-changing overruns the obstacle, so as to realize the pre-planning of the vehicle lane-changing obstacle avoidance. On the basis, the method can further ensure that the pre-planned vehicle lane-changing obstacle-avoiding routes can meet the requirements of vehicle lane-changing obstacle-avoiding after the track set of all the vehicle lane-changing obstacle-avoiding routes is obtained, thereby reducing the operation amount of the planning routes of unordered vehicle lane-changing obstacle-avoiding, and improving the planning control response speed. In addition, the method can realize the effect of continuously updating and controlling the lane changing and obstacle avoidance of the vehicle, so that the control decision can be automatically realized along with the change of the road surface, and the intelligent driving lane changing and obstacle avoidance track planning control method can be further adapted to the complex road surface condition.
Example 2
Referring to fig. 2, fig. 2 is a flow chart of a lane-changing obstacle avoidance control method for a vehicle according to the present embodiment. The vehicle lane change obstacle avoidance control method comprises the following steps:
s201, acquiring vehicle running information of a target vehicle in the running process.
S202, determining a target obstacle according to vehicle running information.
S203, constructing a coordinate system according to a preset coordinate system construction rule.
In this embodiment, the x-axis direction of the coordinate system is the forward direction of the target vehicle, the y-axis direction of the coordinate system is perpendicular to the x-axis direction, and the y-axis is parallel to the road surface on which the target vehicle is traveling, and the origin of the coordinate system is the centroid of the target vehicle.
For example, during intelligent driving, the intelligent driving vehicle obtains the position of the vehicle on the road through a system of positioning the vehicle and the like and combining with information such as a navigation map and the like to provide information for the subsequent construction of the coordinate positioning of the vehicle and the obstacle.
S204, determining a first coordinate positioning of the target vehicle and a second coordinate positioning of the target obstacle according to the coordinate system and the vehicle running information.
In this embodiment, the method may use the vehicle advancing direction as the x-axis direction, be perpendicular to the x-axis direction, and the y-axis be parallel to the road surface on which the target vehicle is traveling, and use the projection of the centroid of the vehicle on the center line of the lane as the origin coordinate; and coordinate positioning of the vehicle and the obstacle is obtained according to the origin coordinates.
S205, taking the first coordinate positioning as a starting point, and carrying out lane changing obstacle avoidance simulation of the target vehicle based on the second coordinate positioning and the three-point positioning mode to obtain a plurality of lane changing obstacle avoidance simulation routes.
In this embodiment, the three-point positioning method includes a start point, a parallel point between the target vehicle and the target obstacle, and an end point of the vehicle lane change beyond the obstacle, where the start point is a first coordinate positioning.
S206, drawing a plurality of obstacle avoidance track curves according to the lane change obstacle avoidance simulation route.
In the embodiment, the method can simulate the lane-changing obstacle avoidance route of the vehicle by adopting a three-point positioning mode by taking the current position of the vehicle as a starting point; and then, drawing the lane-changing obstacle avoidance routes of all the simulated vehicles into an obstacle avoidance track curve, and numbering the lane-changing obstacle avoidance routes of all the simulated vehicles respectively.
In this embodiment, the three points in the three-point positioning manner correspond to the following respectively: the current position of the vehicle is used as a starting point, the parallel point of the vehicle and the obstacle and the vehicle lane change exceeding obstacle are used as an ending point.
By implementing the implementation mode, the pre-planned vehicle lane changing obstacle avoidance routes can be ensured to meet the requirements of vehicle lane changing obstacle avoidance, the calculation amount of the unordered vehicle lane changing obstacle avoidance planning routes is reduced, and the planning control response speed is improved.
S207, judging whether the obstacle avoidance track curves do not meet preset constraint conditions, and if yes, ending the flow; if not, step S208 is performed.
In the present embodiment, the constraint conditions include a boundary constraint, a turning radius constraint, and a vehicle speed constraint.
In this embodiment, the constraint conditions are specifically as follows:
boundary constraint: two boundaries of the road are respectively D 1 And D 2 When the position of the evasion trace of the vehicle in the y-axis direction is L, L is located at D 1 And D 2 An inner part;
turning radius constraint: ρ < (1/R) min ) In which, in the process,
minimum turning radius R of vehicle min =（L/tanδ max ），δ max The maximum front wheel corner of the vehicle is represented by L, the vehicle wheelbase is represented by L, and ρ is the curvature of the obstacle avoidance track curve;
vehicle speed constraint: v min ≤v p ≤v max In the formula, v min V for minimum vehicle speed to allow travel max V for maximum vehicle speed allowed to travel p The vehicle speed is used for changing lanes and avoiding barriers.
In this embodiment, if the screened route of the vehicle lane changing obstacle avoidance meets the constraint condition, all routes of the vehicle lane changing obstacle avoidance which do not meet the constraint condition are deleted, and the reserved routes of the vehicle lane changing obstacle avoidance form a route set; if the vehicle is not provided with a road-changing obstacle avoidance route meeting the constraint condition after screening, road-changing is not carried out.
By implementing the implementation mode, the obstacle avoidance track curves can be traversed through the constraint condition setting, all obstacle avoidance tracks are screened one by one, tracks which do not meet the constraint condition of the vehicle are removed, and otherwise, the tracks are reserved; and selecting a track which can be used as an obstacle avoidance reference.
S208, screening the plurality of obstacle avoidance track curves according to preset constraint conditions to obtain at least one track curve conforming to the constraint conditions.
S209, summarizing at least one track curve to obtain a target lane change obstacle avoidance route set.
S210, determining the longest lane change obstacle avoidance route and the shortest lane change obstacle avoidance route in the target lane change obstacle avoidance route set.
S211, determining an evasive driving area according to the longest lane change obstacle avoidance route and the shortest lane change obstacle avoidance route.
In the embodiment, the method can select the route of the longest vehicle lane changing obstacle avoidance and the route of the shortest vehicle lane changing obstacle avoidance in the route set; and taking an area surrounded by the route of the longest vehicle for lane changing and obstacle avoidance and the route of the shortest vehicle for lane changing and obstacle avoidance as an evasive driving area.
By implementing this embodiment, the vehicle can be controlled to change lanes only when the constraint condition is satisfied. Therefore, the method can determine the evasive driving area according to the route meeting the constraint condition, and the evasive driving area is used for vehicle lane changing and obstacle avoidance.
S212, controlling the target vehicle to change the lane and avoid the obstacle according to the evasive driving area and the target lane change obstacle avoidance route set.
In this embodiment, the method may further store a route of the vehicle lane changing obstacle avoidance, and update and control the vehicle lane changing obstacle avoidance with Δt as a time interval.
By implementing the implementation mode, the lane changing obstacle avoidance of the vehicle can be continuously updated and controlled, so that control decisions can be automatically realized along with the change of the road surface, and the intelligent driving lane changing obstacle avoidance track planning control method can be more suitable for complex road surface conditions.
In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In this embodiment, the execution body of the method may be an intelligent device such as a smart phone or a tablet computer, which is not limited in this embodiment.
Therefore, by implementing the vehicle lane-changing obstacle avoidance control method described in the embodiment, the simulation of the vehicle lane-changing obstacle avoidance route can be performed based on the current vehicle position point, the parallel point of the vehicle and the obstacle and the position point when the vehicle lane-changing overruns the obstacle, so as to realize the pre-planning of the vehicle lane-changing obstacle avoidance. On the basis, the method can further ensure that the pre-planned vehicle lane-changing obstacle-avoiding routes can meet the requirements of vehicle lane-changing obstacle-avoiding after the track set of all the vehicle lane-changing obstacle-avoiding routes is obtained, thereby reducing the operation amount of the planning routes of unordered vehicle lane-changing obstacle-avoiding, and improving the planning control response speed. In addition, the method can realize the effect of continuously updating and controlling the lane changing and obstacle avoidance of the vehicle, so that the control decision can be automatically realized along with the change of the road surface, and the intelligent driving lane changing and obstacle avoidance track planning control method can be further adapted to the complex road surface condition.
Example 3
Referring to fig. 3, fig. 3 is a schematic structural diagram of a lane-changing obstacle avoidance control device for a vehicle according to the present embodiment. As shown in fig. 3, the lane-changing obstacle avoidance control device for a vehicle includes:
an acquiring unit 310 for acquiring vehicle running information of a target vehicle during running;
a first determining unit 320 for determining a first coordinate positioning of the target vehicle and a second coordinate positioning of the target obstacle according to the vehicle running information;
the simulation unit 330 is configured to perform lane-changing obstacle avoidance simulation of the target vehicle according to the first coordinate positioning and the second coordinate positioning, so as to obtain a plurality of lane-changing obstacle avoidance simulation routes;
a drawing unit 340, configured to draw a plurality of obstacle avoidance trajectory curves according to the lane change obstacle avoidance simulation route;
the screening unit 350 is configured to screen the multiple obstacle avoidance trajectory curves under a preset constraint condition to obtain a target lane-changing obstacle avoidance route set;
a second determining unit 360, configured to determine an evasive driving area according to the target lane-changing obstacle avoidance route set;
and the control unit 370 is used for controlling the target vehicle to change the lane and avoid the obstacle according to the evasive driving area and the target lane change obstacle avoidance route set.
In this embodiment, the explanation of the lane-changing obstacle avoidance control device may refer to the description in embodiment 1 or embodiment 2, and no redundant description is given in this embodiment.
Therefore, the vehicle lane-changing obstacle avoidance control device described in the embodiment can simulate the lane-changing obstacle avoidance route of the vehicle based on the current vehicle position point, the parallel point of the vehicle and the obstacle and the position point when the vehicle passes over the obstacle, so as to realize the pre-planning of the lane-changing obstacle avoidance of the vehicle. On the basis, the device can further ensure that the pre-planned vehicle lane-changing obstacle-avoiding routes can meet the requirements of vehicle lane-changing obstacle-avoiding after the track set of all vehicle lane-changing obstacle-avoiding routes is obtained, thereby reducing the operation amount of the planning routes of unordered vehicle lane-changing obstacle-avoiding, and improving the planning control response speed. In addition, the device can realize the effect of continuously updating and controlling the lane changing and obstacle avoidance of the vehicle, so that the device can automatically realize control decisions along with the change of the road surface, and further the provided intelligent driving lane changing and obstacle avoidance track planning control device can be more suitable for complex road surface conditions.
Example 4
Referring to fig. 4, fig. 4 is a schematic structural diagram of a lane-changing obstacle avoidance control device for a vehicle according to the present embodiment. As shown in fig. 4, the lane-changing obstacle avoidance control device for a vehicle includes:
an acquiring unit 310 for acquiring vehicle running information of a target vehicle during running;
a first determining unit 320 for determining a first coordinate positioning of the target vehicle and a second coordinate positioning of the target obstacle according to the vehicle running information;
the simulation unit 330 is configured to perform lane-changing obstacle avoidance simulation of the target vehicle according to the first coordinate positioning and the second coordinate positioning, so as to obtain a plurality of lane-changing obstacle avoidance simulation routes;
a drawing unit 340, configured to draw a plurality of obstacle avoidance trajectory curves according to the lane change obstacle avoidance simulation route;
the screening unit 350 is configured to screen the multiple obstacle avoidance trajectory curves under a preset constraint condition to obtain a target lane-changing obstacle avoidance route set;
a second determining unit 360, configured to determine an evasive driving area according to the target lane-changing obstacle avoidance route set;
and the control unit 370 is used for controlling the target vehicle to change the lane and avoid the obstacle according to the evasive driving area and the target lane change obstacle avoidance route set.
As an alternative embodiment, the first determining unit 320 includes:
a first determination subunit 321 configured to determine a target obstacle according to vehicle travel information;
a construction subunit 322, configured to construct a coordinate system according to a preset coordinate system construction rule; the X-axis direction of the coordinate system is the advancing direction of the target vehicle, the y-axis direction of the coordinate system is vertical to the X-axis direction, the y-axis is parallel to the road surface on which the target vehicle runs, and the origin of the coordinate system is the mass center of the target vehicle;
a second determining subunit 323 for determining a first coordinate positioning of the target vehicle and a second coordinate positioning of the target obstacle according to the coordinate system and the vehicle running information.
As an optional implementation manner, the simulation unit 330 is specifically configured to perform lane-changing obstacle avoidance simulation of the target vehicle based on the second coordinate positioning and the three-point positioning with the first coordinate positioning as a starting point, so as to obtain a plurality of lane-changing obstacle avoidance simulation routes; the three-point positioning mode comprises a starting point, a parallel point between a target vehicle and a target obstacle and an end point of a vehicle lane change overrun obstacle, wherein the starting point is a first coordinate positioning.
In the present embodiment, the constraint conditions include a boundary constraint, a turning radius constraint, and a vehicle speed constraint.
As an alternative embodiment, the screening unit 350 includes:
a judging subunit 351, configured to judge whether none of the plurality of obstacle avoidance trajectory curves meets a preset constraint condition;
the screening subunit 352 is configured to screen the plurality of obstacle avoidance trajectory curves according to a preset constraint condition when the plurality of obstacle avoidance trajectory curves do not all meet the preset constraint condition, so as to obtain at least one trajectory curve that meets the constraint condition;
and the summarizing subunit 353 is configured to summarize at least one track curve to obtain the target lane-changing obstacle avoidance route set.
As an optional implementation manner, the second determining unit 360 is specifically configured to determine a longest lane-changing obstacle-avoiding route and a shortest lane-changing obstacle-avoiding route in the target lane-changing obstacle-avoiding route set;
the second determining unit 360 is specifically further configured to determine the evasive driving area according to the longest lane-changing obstacle avoidance line and the shortest lane-changing obstacle avoidance line.
In this embodiment, the explanation of the lane-changing obstacle avoidance control device may refer to the description in embodiment 1 or embodiment 2, and no redundant description is given in this embodiment.
Therefore, the vehicle lane-changing obstacle avoidance control device described in the embodiment can simulate the lane-changing obstacle avoidance route of the vehicle based on the current vehicle position point, the parallel point of the vehicle and the obstacle and the position point when the vehicle passes over the obstacle, so as to realize the pre-planning of the lane-changing obstacle avoidance of the vehicle. On the basis, the device can further ensure that the pre-planned vehicle lane-changing obstacle-avoiding routes can meet the requirements of vehicle lane-changing obstacle-avoiding after the track set of all vehicle lane-changing obstacle-avoiding routes is obtained, thereby reducing the operation amount of the planning routes of unordered vehicle lane-changing obstacle-avoiding, and improving the planning control response speed. In addition, the device can realize the effect of continuously updating and controlling the lane changing and obstacle avoidance of the vehicle, so that the device can automatically realize control decisions along with the change of the road surface, and further the provided intelligent driving lane changing and obstacle avoidance track planning control device can be more suitable for complex road surface conditions.
The embodiment of the application provides electronic equipment, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the vehicle lane change obstacle avoidance control method in the embodiment 1 or the embodiment 2 of the application.
The present embodiment provides a computer readable storage medium storing computer program instructions that when read and executed by a processor perform the vehicle lane change obstacle avoidance control method of embodiment 1 or embodiment 2 of the present application.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The vehicle lane change obstacle avoidance control method is characterized by comprising the following steps of:
acquiring vehicle running information of a target vehicle in the running process;
determining a first coordinate positioning of the target vehicle and a second coordinate positioning of a target obstacle according to the vehicle running information;
according to the first coordinate positioning and the second coordinate positioning, lane changing obstacle avoidance simulation of the target vehicle is carried out, and a plurality of lane changing obstacle avoidance simulation routes are obtained;
drawing a plurality of obstacle avoidance track curves according to the lane change obstacle avoidance simulation route;
screening a plurality of obstacle avoidance track curves under a preset constraint condition to obtain a target lane change obstacle avoidance route set;
determining an evasive driving area according to the target lane change obstacle avoidance route set;
and controlling the target vehicle to change the lane and avoid the obstacle according to the avoidable driving area and the target lane-changing obstacle-avoiding route set.
2. The vehicle lane-changing obstacle avoidance control method of claim 1 wherein said determining a first coordinate location of the target vehicle and a second coordinate location of the target obstacle from the vehicle travel information comprises:
determining a target obstacle according to the vehicle running information;
constructing a coordinate system according to a preset coordinate system construction rule; the direction of the x axis of the coordinate system is the advancing direction of the target vehicle, the direction of the y axis of the coordinate system is perpendicular to the direction of the x axis, the y axis is parallel to the road surface on which the target vehicle runs, and the origin of the coordinate system is the mass center of the target vehicle;
and determining a first coordinate positioning of the target vehicle and a second coordinate positioning of the target obstacle according to the coordinate system and the vehicle running information.
3. The vehicle lane-changing obstacle avoidance control method according to claim 1, wherein the performing lane-changing obstacle avoidance simulation of the target vehicle according to the first coordinate positioning and the second coordinate positioning to obtain a plurality of lane-changing obstacle avoidance simulation routes includes:
taking the first coordinate positioning as a starting point, and carrying out lane changing obstacle avoidance simulation of the target vehicle based on the second coordinate positioning and a three-point positioning mode to obtain a plurality of lane changing obstacle avoidance simulation routes; the three-point positioning mode comprises a starting point, a parallel point between the target vehicle and the target obstacle and an end point of the vehicle lane change overrun obstacle, wherein the starting point is the first coordinate positioning.
4. The vehicle lane-changing obstacle avoidance control of claim 1 wherein the constraints comprise boundary constraints, turn radius constraints, and vehicle speed constraints.
5. The vehicle lane-changing obstacle avoidance control method according to claim 1, wherein the screening the plurality of obstacle avoidance trajectory curves under a preset constraint condition to obtain a target lane-changing obstacle avoidance route set comprises:
judging whether the obstacle avoidance track curves do not meet the preset constraint conditions;
if not, screening a plurality of obstacle avoidance track curves according to preset constraint conditions to obtain at least one track curve conforming to the constraint conditions;
and summarizing the at least one track curve to obtain a target lane change obstacle avoidance route set.
6. The vehicle lane-changing obstacle avoidance control method of claim 1 wherein the determining an evasive driving region from the target lane-changing obstacle avoidance course set comprises:
determining the longest lane change obstacle avoidance route and the shortest lane change obstacle avoidance route in the target lane change obstacle avoidance route set;
and determining an evasive driving area according to the longest lane change obstacle avoidance route and the shortest lane change obstacle avoidance route.
7. The utility model provides a vehicle trades way and keeps away barrier controlling means which characterized in that, vehicle trades way and keeps away barrier controlling means includes:
an acquisition unit configured to acquire vehicle travel information of a target vehicle during travel;
a first determining unit configured to determine a first coordinate positioning of the target vehicle and a second coordinate positioning of a target obstacle according to the vehicle running information;
the simulation unit is used for carrying out lane change obstacle avoidance simulation of the target vehicle according to the first coordinate positioning and the second coordinate positioning to obtain a plurality of lane change obstacle avoidance simulation routes;
the drawing unit is used for drawing a plurality of obstacle avoidance track curves according to the lane change obstacle avoidance simulation route;
the screening unit is used for screening the plurality of obstacle avoidance track curves under the preset constraint condition to obtain a target lane change obstacle avoidance route set;
the second determining unit is used for determining an evasive driving area according to the target lane change obstacle avoidance route set;
and the control unit is used for controlling the target vehicle to change the lane and avoid the obstacle according to the avoidable driving area and the target lane-changing obstacle-avoiding route set.
8. The lane-changing obstacle avoidance control of claim 7 wherein the first determination unit comprises:
a first determination subunit configured to determine a target obstacle according to the vehicle running information;
the construction subunit is used for constructing a coordinate system according to a preset coordinate system construction rule; the direction of the x axis of the coordinate system is the advancing direction of the target vehicle, the direction of the y axis of the coordinate system is perpendicular to the direction of the x axis, the y axis is parallel to the road surface on which the target vehicle runs, and the origin of the coordinate system is the mass center of the target vehicle;
and the second determining subunit is used for determining the first coordinate positioning of the target vehicle and the second coordinate positioning of the target obstacle according to the coordinate system and the vehicle running information.
9. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to execute the vehicle lane change obstacle avoidance control method of any one of claims 1 to 6.
10. A readable storage medium having stored therein computer program instructions which, when read and executed by a processor, perform the vehicle lane change obstacle avoidance control method of any one of claims 1 to 6.
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