WO2022126349A1 - Control method and control apparatus - Google Patents
Control method and control apparatus Download PDFInfo
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- WO2022126349A1 WO2022126349A1 PCT/CN2020/136335 CN2020136335W WO2022126349A1 WO 2022126349 A1 WO2022126349 A1 WO 2022126349A1 CN 2020136335 W CN2020136335 W CN 2020136335W WO 2022126349 A1 WO2022126349 A1 WO 2022126349A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60W2552/10—Number of lanes
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/402—Type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Definitions
- the present application relates to the field of terminal control, and in particular, to a vehicle control method and control device.
- Vehicle obstacle avoidance is an important factor that directly affects safety.
- Most of the existing vehicle obstacle avoidance schemes are realized by longitudinal or lateral obstacle avoidance.
- Longitudinal obstacle avoidance is mainly through deceleration, braking and other means, so as to avoid collision in front of the vehicle as much as possible The obstacle to avoid accidents, but this requires a sufficient distance from the obstacle, if the distance is too short, longitudinal obstacle avoidance will fail.
- longitudinal obstacle avoidance will also affect the normal driving of the vehicle, and if the obstacle is not cleared, the vehicle cannot continue to move forward.
- lateral obstacle avoidance is a faster and more effective way to avoid obstacles, which is equivalent to continuing to drive around obstacles. It will be affected by other vehicles or pedestrians in the lateral direction, so it may cause other collisions in the process of avoiding obstacles, such as collisions between pedestrians and vehicles driving in adjacent lanes. That is to say, in the prior art, whether vertical obstacle avoidance or horizontal obstacle avoidance is adopted, there is a problem that the obstacle avoidance effect is not ideal.
- the present application provides a vehicle control method and control device, which can achieve better obstacle avoidance performance and improve safety.
- a control method includes: acquiring environmental information of a vehicle, the environmental information including obstacle information and road structure information, and controlling the vehicle to perform lateral obstacle avoidance on the road or lateral obstacle avoidance on the road according to the environmental information.
- the solution further subdivides the lateral obstacle avoidance method, and can perform lateral obstacle avoidance within the track or lateral obstacle avoidance outside the track according to the environmental information. It will affect the behavior of the target vehicle in the adjacent lane and have higher safety, thereby improving the overall obstacle avoidance performance.
- the above-mentioned environmental information may come from at least one of at least one sensor, memory or communication interface.
- in-lane can be understood as no lane or as in-lane, that is, not beyond the lane where the vehicle is located.
- Out-of-lane can be understood as changing lanes or as out-of-lane, that is, beyond the lane where the vehicle is located.
- On-track lateral obstacle avoidance and off-track lateral obstacle avoidance are further divisions of lateral obstacle avoidance.
- the actual lateral offset distance can be made to meet the requirement of the desired lateral offset distance, and the expected lateral offset distance is determined by the environment. information obtained.
- the desired lateral offset distance can be regarded as a lateral offset distance with a numerical range, and when the actual lateral offset distance is within the numerical range, it is considered that the actual lateral offset distance satisfies the expected lateral offset distance Otherwise, it is considered that the actual lateral offset distance does not meet the requirements of the desired lateral offset distance.
- the desired lateral offset distance can also be regarded as a specific value. When the difference between the actual lateral offset distance and the specific value is within a certain range, it is considered that the actual lateral offset distance satisfies the expected lateral offset distance. Otherwise, it is considered that the actual lateral offset distance does not meet the requirements of the expected lateral offset distance.
- the actual lateral offset distance can be understood as the lateral offset distance between the vehicle and the obstacle when the vehicle continues to drive.
- the desired lateral offset distance may be the desired lateral offset distance obtained by the control device in the embodiment of the present application according to the environmental information, that is to say, driving according to the desired lateral offset distance can ensure that both obstacles are avoided and no obstacles can be guaranteed. out of lane.
- the control vehicle executes lateral obstacle avoidance in the lane, it can be achieved by adjusting the power information of the vehicle, and the adjustment of the power information can make the actual lateral offset described above be achieved. distance.
- the power information may include at least one of the following: angular velocity, steering wheel rotation angle, steering angle, and torque. That is to say, the purpose of changing the motion state of the vehicle is achieved by adjusting the power information, so that the adjusted lateral offset distance of the vehicle (here, the actual lateral offset distance) can meet the requirement of the desired lateral offset distance.
- the power information of the vehicle may be adjusted based on the difference between the expected lateral offset distance and the predicted lateral offset distance. For example, when the difference is within a certain threshold range (that is, the actual lateral offset distance meets the requirement of the desired lateral offset distance), no adjustment is performed, and only when the difference is not within the threshold range (that is, the actual lateral offset distance does not meet the requirement) The adjustment is made only when the desired lateral offset distance is required).
- the predicted lateral offset distance may be a lateral offset distance predicted by the dynamic information of the vehicle.
- the predicted lateral offset distance can be understood as the lateral offset distance formed by the vehicle continuing to drive according to the current power information, that is, the predicted lateral distance can be obtained through the power information.
- the dynamic information is not adjusted, the predicted lateral offset distance is not changed, so the actual lateral offset distance is not changed; when the dynamic information is adjusted, the predicted lateral offset distance is changed, so Changed the actual lateral offset distance.
- the above-mentioned environmental information may be used to indicate a first distance and a first threshold
- the first distance is used to indicate the distance between the vehicle and the boundary of the lane where it is located
- the first The threshold is used to represent the minimum lateral offset distance required to avoid obstacles through lateral obstacle avoidance.
- the vehicle may be controlled to perform in-lane lateral obstacle avoidance or out-lane lateral obstacle avoidance according to the first distance and the first threshold.
- the lateral obstacle avoidance in the lane cannot be performed.
- the adjacent lane line or road edge is greater than or equal to the first threshold, it means that the obstacle can be bypassed without changing the lane, and lateral obstacle avoidance within the lane can be performed at this time.
- the following operations may be performed:
- the vehicle is controlled to perform off-track lateral obstacle avoidance.
- the first distance is the same as the first threshold, as a critical situation, it is possible to perform lateral obstacle avoidance within the track and lateral obstacle avoidance outside the track. However, it is relatively safe to perform lateral obstacle avoidance outside the track in a critical situation.
- the first threshold may be determined according to the relative positional relationship between the vehicle and the obstacle and/or the relative motion relationship between the vehicle and the obstacle, and the relative positional relationship may be determined according to the information of the obstacle and the road structure information,
- the relative motion relationship can be determined according to the dynamic information of the vehicle and the information of obstacles.
- the first distance is obtained through the information of the boundary in the road structure information
- the first threshold is obtained through the relative positional relationship between the vehicle and the obstacle and/or the vehicle and the obstacle. Obtained from the relative motion relationship of the obstacle, the information of the obstacle and the road structure information indicate the relative positional relationship, and the dynamic information of the vehicle and the information of the obstacle indicate the relative motion relationship.
- the information of the obstacle may include information such as the size information and motion state information of the obstacle, as well as the information of the type of the obstacle. Therefore, the first threshold value can also be corresponding to the type of the obstacle, that is, the first threshold value Can correspond to the type of obstacle.
- the information of the obstacle includes the type of the obstacle, and the first threshold corresponds to the type of the obstacle.
- the correspondence between the first threshold and the type of the obstacle is predefined or set, or the first threshold may be determined or adjusted according to the type of the obstacle.
- certain execution conditions may also be set for the execution of lateral obstacle avoidance within the track or lateral obstacle avoidance outside the track, so that the lateral obstacle avoidance within the track or the lateral obstacle avoidance outside the track will be executed only when certain conditions are met.
- the above-mentioned environmental information is further used to indicate a second distance and a second threshold, the second distance is used to indicate the longitudinal distance between the vehicle and the obstacle, and the second threshold It is used to indicate the minimum longitudinal distance required to avoid obstacles through longitudinal obstacle avoidance.
- the above-mentioned control of the vehicle to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane according to the environmental information may include:
- the following operation may also be performed: when the second distance is greater than the second threshold, perform longitudinal obstacle avoidance.
- the execution of the lateral obstacle avoidance within the track is stopped.
- the control of the lateral obstacle avoidance inside the track and the lateral obstacle avoidance outside the track is ended after a certain period of time. It is equivalent to returning control of the vehicle to other modules or to the driver.
- the driver's lack of response is generally a few seconds, which is equivalent to suddenly seeing an obstacle and not having time to respond.
- control of the embodiment of the present application can be used to achieve obstacle avoidance, so as to make up for the driver's error, but if the control The time has elapsed for a few seconds, and the driver has reacted at this time, so he can no longer take over the control, and the control can be returned to the driver.
- the execution of lateral obstacle avoidance within the track is stopped.
- a control device including a unit for executing the method of any one of the implementation manners of the first aspect above.
- the control device may include an acquisition unit and a processing unit, the acquisition unit may be used to acquire environmental information of the vehicle, the environmental information includes information of obstacles and road structure information, and the processing unit may be used to control the vehicle to perform lateral obstacle avoidance in the lane according to the environmental information Or lateral obstacle avoidance outside the road.
- the processing unit when controlling the vehicle to perform lateral obstacle avoidance in the lane, may be specifically configured to control the vehicle to perform lateral obstacle avoidance in the lane, so that the actual lateral offset distance satisfies The demand for the desired lateral offset distance, which is obtained from the above-mentioned environmental information.
- the processing unit when the processing unit controls the vehicle to perform lateral obstacle avoidance in the lane, it can be specifically implemented by adjusting the power information of the vehicle, and the adjustment of the power information can make the vehicle reach the above-mentioned level. Actual lateral offset distance.
- the power information may include at least one of the following: angular velocity, steering wheel rotation angle, steering angle, and torque.
- the above-mentioned environmental information may be used to indicate a first distance and a first threshold
- the first distance is used to indicate the distance between the vehicle and the boundary of the lane where it is located
- the first The threshold is used to represent the minimum lateral offset distance required to avoid obstacles through lateral obstacle avoidance.
- the processing unit may specifically control the vehicle to perform lateral obstacle avoidance within the lane or lateral obstacle avoidance outside the lane according to the first distance and the first threshold.
- the processing unit in the above-mentioned process of controlling the vehicle to perform lateral obstacle avoidance inside the lane or lateral obstacle avoidance outside the lane according to the first distance and the first threshold, the processing unit may be specifically used for:
- the vehicle is controlled to perform off-track lateral obstacle avoidance.
- the situation where the first distance and the first threshold are the same can either be set to select the lateral obstacle avoidance within the track, or can be set to select the lateral obstacle avoidance outside the track.
- select the lateral obstacle avoidance outside the track Relatively safe.
- the first distance is obtained through information of the boundary in the road structure information
- the first threshold is obtained through the relative positional relationship between the vehicle and the obstacle and/or the vehicle and the obstacle. Obtained from the relative motion relationship of the obstacle, the information of the obstacle and the road structure information indicate the relative positional relationship, and the dynamic information of the vehicle and the information of the obstacle indicate the relative motion relationship.
- the information of the obstacle includes the type of the obstacle, and the first threshold corresponds to the type of the obstacle.
- the correspondence between the first threshold and the type of the obstacle is predefined or set, or the first threshold may be determined or adjusted according to the type of the obstacle.
- the above environmental information is further used to indicate a second distance and a second threshold
- the second distance is used to indicate the longitudinal distance between the vehicle and the obstacle
- the second threshold It is used to indicate the minimum longitudinal distance required to avoid obstacles through longitudinal obstacle avoidance.
- the processing unit may be further configured to stop executing the in-track lateral obstacle avoidance if it is determined that the time period for performing in-track lateral obstacle avoidance is greater than or equal to a preset time threshold.
- a third aspect provides a chip, the chip includes at least one processor and an interface circuit, the at least one processor obtains instructions stored in a memory through the interface circuit, and executes any one of the implementation manners of the first aspect above method in .
- the chip may further include a memory, in which instructions are stored, the processor is configured to execute the instructions stored in the memory, and when the instructions are executed, the The processor is configured to execute the method in any one of the implementation manners of the first aspect.
- a computer-readable medium stores program code for execution by a device, the program code comprising a method for performing any one of the implementations of the first aspect.
- a computer program product containing instructions, when the computer program product is run on a computer, the computer program product causes the computer to execute the method in any one of the implementation manners of the above-mentioned first aspect.
- the present application provides a terminal, where the terminal includes the apparatus of any one of the implementation manners of the second aspect.
- the terminal may also be a possible device such as a drone or a robot, that is, the above mentioned
- the "vehicle" of the vehicle can be replaced with "terminal”.
- the above-mentioned road structure and information such as inside and outside the road can also be replaced with the route channel or environmental structure where the terminal such as drone or robot is located, and the route based on the above-mentioned route.
- Intra-channel and out-of-channel information captured by a channel or environmental structure.
- the functions and explanations of specific terms can be obtained by referring to the type and environment of the actual terminal. This application is described with a vehicle as an example, but the solution can be extended to other possible terminal types.
- the terminal may also be a terminal for remotely controlling the vehicle. That is to say, the above-mentioned control device may be installed on the controlled vehicle, or may be independent of the controlled vehicle.
- the controlled vehicle may be controlled by a drone, other
- the above-mentioned controlled vehicles can also be other devices such as drones and robots.
- FIG. 1 is a functional block diagram of a vehicle to which the embodiments of the present application are applied.
- FIG. 2 is a schematic flowchart of a control method according to an embodiment of the present application.
- FIG. 3 is a schematic diagram of lateral obstacle avoidance in a vehicle lane according to an embodiment of the present application.
- FIG. 4 is a schematic diagram of a scene of lateral obstacle avoidance in a track according to an embodiment of the present application.
- FIG. 5 is a schematic diagram of a scene of lateral obstacle avoidance in a track according to an embodiment of the present application.
- FIG. 6 is a schematic diagram of an execution process of in-track lateral obstacle avoidance according to an embodiment of the present application.
- FIG. 7 is a schematic diagram of a control device according to an embodiment of the present application.
- FIG. 8 is a schematic diagram of a control device according to an embodiment of the present application.
- FIG. 9 is a schematic diagram of an obstacle according to an embodiment of the present application being another vehicle.
- the vehicle control method and/or control device provided by the embodiments of the present application can be applied to various types of vehicles. These methods and/or devices can be applied to both manual driving, assisted driving, and automatic driving.
- the technical solutions of the embodiments of the present application will be introduced below with reference to the accompanying drawings.
- FIG. 1 is a functional block diagram of a vehicle to which the embodiments of the present application are applied.
- the vehicle 100 may be a human-driven vehicle, or the vehicle 100 may be configured in a fully or partially autonomous driving mode.
- the vehicle 100 may control the ego vehicle while in an autonomous driving mode, and may determine the current state of the vehicle and its surrounding environment through human manipulation, determine the possible behavior of at least one other vehicle in the surrounding environment, and A confidence level corresponding to the likelihood that other vehicles will perform the possible behavior is determined, and the vehicle 100 is controlled based on the determined information.
- the vehicle 100 may be placed to operate without human interaction.
- vehicle 100 Various subsystems may be included in vehicle 100 , such as travel system 110 , sensing system 120 , control system 130 , one or more peripherals 140 and power supply 160 , computer system 150 , and user interface 170 .
- the vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple elements. Additionally, each of the subsystems and elements of the vehicle 100 may be interconnected by wire or wirelessly.
- the travel system 110 may include components for providing powered motion to the vehicle 100 .
- the traveling system may be used to drive the vehicle to perform corresponding motion behaviors, such as forward, backward, and steering, during the obstacle avoidance process.
- the sensing system 120 may include several sensors that sense information about the environment surrounding the vehicle 100 .
- the sensing system may be used to acquire environmental information and road structure information, so as to perform subsequent control based on the acquired information.
- the sensing system 120 may include a positioning system 121 (eg, a global positioning system (GPS), BeiDou system, or other positioning system), an inertial measurement unit (IMU) 122, a radar 123, a laser Distance meter 124 , camera 125 and vehicle speed sensor 126 .
- the sensing system 120 may also include sensors that monitor the internal systems of the vehicle 100 (eg, an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, velocity, etc.). This detection and identification is a critical function for the safe operation of the autonomous vehicle 100 .
- the positioning system 121 may be used to estimate the geographic location of the vehicle 100 .
- the IMU 122 may be used to sense position and orientation changes of the vehicle 100 based on inertial acceleration.
- IMU 122 may be a combination of an accelerometer and a gyroscope.
- the radar 123 may utilize radio signals to sense objects within the surrounding environment of the vehicle 100 .
- radar 123 may be used to sense the speed and/or heading of objects.
- the laser rangefinder 124 may utilize laser light to sense objects in the environment in which the vehicle 100 is located.
- the laser rangefinder 124 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.
- camera 125 may be used to capture multiple images of the surrounding environment of vehicle 100 .
- camera 125 may be a still camera or a video camera.
- the vehicle speed sensor 126 may be used to measure the speed of the vehicle 100 .
- real-time speed measurement of the vehicle can be performed.
- the measured vehicle speed may be communicated to the control system 130 to effect control of the vehicle.
- control system 130 controls the operation of the vehicle 100 and its components.
- Control system 130 may include various elements, such as may include steering system 131 , throttle 132 , braking unit 133 , computer vision system 134 , route control system 135 , and obstacle avoidance system 136 .
- the control methods described in the embodiments of the present application may be implemented by the control system 130, specifically, the obstacle avoidance system 136 may be implemented, that is, the obstacle avoidance system 136 may have the function of the control device of the embodiments of the present application.
- the steering system 131 may operate to adjust the heading of the vehicle 100 .
- it may be a steering wheel system.
- the throttle 132 may be used to control the operating speed of the engine 111 and thus the speed of the vehicle 100 .
- the braking unit 133 may be used to control the deceleration of the vehicle 100 ; the braking unit 133 may use friction to slow the wheels 114 . In other embodiments, the braking unit 133 may convert the kinetic energy of the wheels 114 into electrical current. The braking unit 133 may also take other forms to slow the wheels 114 to control the speed of the vehicle 100 .
- computer vision system 134 is operable to process and analyze images captured by camera 125 in order to identify objects and/or features in the environment surrounding vehicle 100 .
- Such objects and/or features may include traffic signals, road boundaries and obstacles.
- Computer vision system 134 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques.
- the computer vision system 134 may be used to map the environment, track objects, estimate the speed of objects, and the like.
- the route control system 135 may be used to determine the route of travel of the vehicle 100 .
- the obstacle avoidance system 136 may be used to identify, evaluate and avoid or otherwise traverse potential obstacles in the environment of the vehicle 100 .
- control system 130 may additionally or alternatively include components in addition to those shown and described. Alternatively, some of the components shown above may be reduced.
- the vehicle 100 may interact with external sensors, other vehicles, other computer systems or users through peripheral devices 140; wherein the peripheral devices 140 may include a wireless communication system 141, an on-board computer 142, a microphone 143 and/or a or speaker 144.
- peripheral devices 140 may include a wireless communication system 141, an on-board computer 142, a microphone 143 and/or a or speaker 144.
- peripherals 140 may provide a means for vehicle 100 to interact with user interface 170 .
- wireless communication system 141 may wirelessly communicate with one or more devices, either directly or via a communication network.
- power supply 160 may provide power to various components of vehicle 100 .
- the power source 160 may be a rechargeable lithium-ion battery or a lead-acid battery.
- One or more battery packs of such a battery may be configured as a power source to provide power to various components of the vehicle 100 .
- power source 160 and energy source 113 may be implemented together, such as in some all-electric vehicles.
- a computer system 150 may include at least one processor 151 that executes execution in a non-transitory computer-readable medium stored in, for example, memory 152 .
- Computer system 150 may also be multiple computing devices that control individual components or subsystems of vehicle 100 in a distributed fashion.
- processor 151 may be any conventional processor, such as a commercially available central processing unit (CPU).
- CPU central processing unit
- the processor may be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor.
- FIG. 1 functionally illustrates a processor, memory, and other elements of the computer in the same block, one of ordinary skill in the art will understand that the processor, computer, or memory may actually include storage that may or may not be Multiple processors, computers or memories within the same physical enclosure.
- the memory may be a hard drive or other storage medium located within an enclosure other than a computer.
- reference to a processor or computer will be understood to include reference to a collection of processors or computers or memories that may or may not operate in parallel.
- some components such as the steering and deceleration components may each have their own processor that only performs computations related to component-specific functions .
- a processor may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle while others are performed by a remote processor, including taking steps necessary to perform a single maneuver.
- memory 152 may contain instructions 153 (eg, program logic) that may be used by processor 151 to perform various functions of vehicle 100 , including those described above.
- Memory 152 may also include additional instructions, such as including sending data to, receiving data from, interacting with, and/or performing data processing on one or more of travel system 110 , sensing system 120 , control system 130 , and peripherals 140 control commands.
- memory 152 may store data such as road maps, route information, vehicle location, direction, speed, and other such vehicle data, among other information. Such information may be used by the vehicle 100 and the computer system 150 during operation of the vehicle 100 in autonomous, semi-autonomous and/or manual modes.
- user interface 170 may be used to provide information to or receive information from a user of vehicle 100 .
- user interface 170 may include one or more input/output devices within the set of peripheral devices 140, such as wireless communication system 141, vehicle computer 142, microphone 143, and speaker 144.
- computer system 150 may control functions of vehicle 100 based on input received from various subsystems (eg, travel system 110 , sensing system 120 , and control system 130 ) and from user interface 170 .
- computer system 150 may utilize input from control system 130 to control braking unit 133 to avoid obstacles detected by sensing system 120 and obstacle avoidance system 136 .
- computer system 150 is operable to provide control of various aspects of vehicle 100 and its subsystems.
- one or more of these components described above may be installed or associated with the vehicle 100 separately.
- memory 152 may exist partially or completely separate from vehicle 100 .
- the above-described components may be communicatively coupled together in a wired and/or wireless manner.
- FIG. 1 should not be construed as a limitation on the embodiments of the present application.
- the above-mentioned vehicle 100 may be a traditional vehicle, a new energy vehicle, a smart vehicle, etc.
- the so-called traditional vehicle refers to a vehicle that uses automobiles, diesel, etc. to provide energy
- a new energy vehicle refers to a newly emerged vehicle that uses new energy such as electric energy, gas, etc. to provide energy
- a smart car refers to a car loaded with smart devices such as an intelligent control unit.
- the vehicle type of the above-mentioned vehicle 100 may include, for example, a car, a truck, a passenger car, an engineering vehicle, a bus, etc., which is not particularly limited in the embodiments of the present application.
- various types of automobiles driving on the road are mainly used as examples for introduction.
- the current lateral control method only considers the size of the obstacle and the distance between the vehicle and the obstacle, and determines the lateral movement by controlling the distance between the obstacle and the vehicle, thereby bypassing the obstacle, but when the obstacle is other cars
- the embodiments of the present application provide a new control method and control device, which can perform lateral obstacle avoidance inside the road or lateral obstacle avoidance outside the road according to information on obstacles and road structure information, which can effectively improve the process of lateral obstacle avoidance.
- This is because it is relatively safe to drive without changing the lane, so the obstacle avoidance process in the lane (that is, the obstacle avoidance in the same lane) will not bring other safety hazards. Therefore, compared with the prior art, the solution of the present application has higher safety compared with the situation in which the lane change is not considered. Further, some optimizations can also be made during lateral obstacle avoidance in the lane, so that the lateral obstacle avoidance in the lane can be effectively executed.
- a new control method and control device which can perform lateral obstacle avoidance inside the road or lateral obstacle avoidance outside the road according to information on obstacles and road structure information, which can effectively improve the process of lateral obstacle avoidance.
- FIG. 2 is a schematic flowchart of a control method according to an embodiment of the present application. Each step in FIG. 5 is described below.
- the environmental information can be obtained from other devices of the vehicle that can collect environmental information, or the environmental information can be read from a storage device, or the environmental information can be obtained from the Internet of Vehicles through a communication interface.
- the environmental information may also be obtained through a combination of the foregoing manners.
- the device in the sensing system 120 shown in FIG. 1 may be used to collect environmental information; another example may be to read the environmental information from the memory 152 shown in FIG. 1 ; another example may be the wireless communication system shown in FIG. 1 .
- 141 Obtain environmental information from vehicle-to-everything (V2X).
- V2X vehicle-to-everything
- the environmental information can be obtained through a combination of the above-mentioned methods.
- V2V vehicle-to-vehicle
- V2I vehicle-to-infrastructure
- V2N vehicle-to-Internet
- V2P vehicle-to-pedestrian
- other devices that can collect environmental information may be at least one of the following: a camera, a camera, or a radar.
- the above devices may also be collectively referred to as sensing devices, or may be equivalent to using the environment detection device 412 shown in FIG. 4 .
- the above mainly introduces the ways in which environmental information can be obtained and which devices can be obtained.
- the environmental information is explained below.
- the environmental information may be understood as external information of the vehicle, or may be understood as information of the environment where the vehicle is located.
- the environmental information may include road structure information and obstacle information, the road structure information may include at least one of the number of lanes of the road, road edge conditions, green belt conditions, lane boundary information, etc.
- the road structure information may be used as obstacle avoidance One of the basis for the selection of the method.
- the information of the obstacle can include the size and position of the obstacle, and the information of the obstacle can also be used as one of the selection basis of the obstacle avoidance method.
- the size and position information of the obstacle can be used to determine the offset, time length, distance, etc. required to avoid the obstacle, so as to decide which obstacle avoidance method to choose. For example, when the obstacle is small and the lateral distance from the obstacle is small When it is small, the obstacle can be bypassed with a small lateral offset. At this time, the lateral obstacle avoidance in the lane can be preferred.
- the position information of the obstacle may be the relative position of the obstacle on the road, or the position relative to the vehicle.
- the obstacle information may also include motion state information, etc.
- the motion speed may also be the motion state of the obstacle relative to the road, or the motion state of the obstacle relative to the vehicle.
- the more types of obstacle information included the more sufficient the basis for selecting the obstacle avoidance method, which can improve the accuracy of the selection, thereby improving the obstacle avoidance performance.
- the information of the obstacle may also include information of the type of the obstacle, and the type of the obstacle may be, for example, a vehicle, a pedestrian, a bicycle, an electric vehicle, or other possible obstacles.
- the types of obstacles can be used as the basis for obstacle avoidance control, that is, different control can be performed according to different types of obstacles, or it can be understood that different types of obstacles correspond to different safety levels.
- the importance of personal safety is definitely higher than that of property safety, so although the size of pedestrians is not too large, due to the high uncertainty of pedestrian movement behavior and easy injury, it can be used in obstacles.
- the type is pedestrian, when controlling the vehicle to avoid the pedestrian, control the lateral distance between the vehicle and the pedestrian as far as possible. Obstacles maintain a lateral distance of B meters, where B is a positive real number greater than A.
- the obstacle avoidance control may include one or more of on-track lateral obstacle avoidance, off-track lateral obstacle avoidance, and vertical obstacle avoidance.
- the vehicle may be controlled to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane according to the environmental information.
- lateral obstacle avoidance and vertical obstacle avoidance Compared with the traditional lateral obstacle avoidance method that does not consider the inside or outside of the road, it has higher safety.
- the safety problem in the process of lateral obstacle avoidance is not further considered, and there is no further distinction between on-track and off-track for lateral obstacle avoidance.
- the obstacle avoidance control is mainly performed according to the environmental information, and the reliability and safety of the lateral obstacle avoidance in the track are higher.
- the control method of the embodiment of the present application has the advantages of Better obstacle avoidance performance, especially when using in-track lateral obstacle avoidance, the obstacle avoidance is fast, does not affect continuing to move forward, and is relatively safe.
- only lateral obstacle avoidance is considered according to the size, distance, etc. of the obstacle, so the vehicle is not restricted to avoid obstacles as much as possible without changing the lane.
- only laterally avoiding the vehicle ahead or other obstacles is considered, and obstacle avoidance is performed by controlling the lateral distance between the obstacle and the vehicle, so the need to change lanes is not further considered.
- the embodiments of the present application mainly perform lateral obstacle avoidance within the track in the case of such obstacles that can be bypassed without changing the track, so as to achieve safe and effective obstacle avoidance performance. It can be understood that, compared with the prior art, the embodiment of the present application increases the division of lateral obstacle avoidance, and divides the lateral obstacle avoidance into lateral obstacle avoidance inside the track and lateral obstacle avoidance outside the track, which is safer.
- the reason why the on-track and off-track issues of lateral obstacle avoidance are not considered in the prior art is that on the one hand, the prior art does not consider that lateral obstacle avoidance within the track is safer and more effective, and on the other hand, the actual situation It is more difficult to avoid lateral obstacles in the middle of the road. For example, when the driver is turning, he often has an overreaction or a slow reaction. When the reaction is excessive, it is easy to overtake the current lane, and when the reaction is slow, it is easy to cause the lateral deviation to be insufficient to avoid obstacles, that is, It is difficult to keep the lane and avoid obstacles.
- the width of the lane is 3.5 meters to 3.7 meters, while the width of the urban road is 3.5 meters, and the width of each lane of the intersection diversion lane is 2.3 meters to 2.5 meters.
- the width of each lane of arterial roads (highways) is 3.75 meters.
- the vehicle width of a general private car is usually between 1.5 meters and 2 meters. Even the width of a truck is usually between 2.2 meters and 2.6 meters. It can be seen that there is a certain space margin for vehicles driving in the lane. The amount can support the vehicle to avoid lateral obstacles in the lane for some smaller obstacles. For ease of understanding, explanations are given below with reference to FIGS. 3 to 5 .
- FIG. 3 is a schematic diagram of lateral obstacle avoidance in a vehicle lane according to an embodiment of the present application.
- the current position of the vehicle is A
- B is the position of the obstacle.
- Figure 3 takes the obstacle as a large irregular stone as an example. That is, the gray irregular polygons shown at B represent larger stones.
- C, D, E respectively represent the position of the vehicle after driving forward for a period of time
- the arcs with arrows represent examples of the three driving directions, where AD represents driving close to a straight line, that is, with little lateral offset, or The lateral offset is small.
- AC means offset laterally but does not exceed own lane
- AE means lateral offset and will exceed own lane.
- the vehicle will remain in the lane (that is, not changing the lane), but will collide with the obstacle (stone B); if driving according to the AC trajectory, the vehicle will remain in the lane If the vehicle is within the lane (that is, it does not change the lane), and will not collide with the obstacle (stone B), the obstacle can be avoided; if the vehicle follows the AE trajectory, the vehicle will exceed the boundary of the lane, but will not collide with the obstacle ( When the stone B) collides, the obstacle can be avoided.
- the desired effect of lateral obstacle avoidance in the lane is to follow the AC trajectory, that is to say, the obstacle can be avoided without exceeding the boundary of the lane.
- FIG. 4 is a schematic diagram of a scene of lateral obstacle avoidance in a track according to an embodiment of the present application.
- FIG. 4 is based on FIG. 3 , and only the vehicles at A and C and the obstacles at B are retained as examples for introduction.
- L1-L6 respectively represent some length variables, in which, L1 and L2 both represent the lateral distance between the obstacle B and the vehicle at C, and L3 represents the longitudinal distance between the obstacle B and the vehicle at A , L4 represents the lateral offset distance of the vehicle if it follows the AC trajectory, and L5 and L6 represent the distance between the vehicle and the lane boundary, respectively.
- the horizontal and vertical directions can be regarded as relative to the vehicle, and it can be understood that the forward direction of the vehicle is the vertical direction, or the connection line between the front and the rear of the vehicle is the vertical direction, that is, as shown in Figure 3 or the horizontal orientation in Figure 4. It can be understood that the direction perpendicular to the forward direction of the vehicle is the lateral direction, or the direction parallel to the front of the vehicle, or the direction parallel to the rear of the vehicle, or referred to as the vehicle transverse axis, that is, the vertical direction as shown in FIG. 3 or FIG. 4 .
- the longitudinal axis of the vehicle is indicated by a long dashed horizontal line
- the lateral axis of the vehicle is indicated by a long dashed vertical line.
- the edge of the vehicle can be used as the reference starting point
- the center of the vehicle can also be used as the reference starting point
- any specific position of the vehicle can be used as the reference starting point, but no matter which reference starting point is selected, it is necessary to Considering the actual size of the vehicle, the expected effect is therefore equivalent.
- the closest boundary point of the obstacle to the vehicle can be used as the reference end point.
- the lateral distance between the vehicle and the obstacle is the distance between the longitudinal axis of the vehicle and the closest boundary point of the obstacle, or it can be understood as the distance between any point in the obstacle and the longitudinal axis of the vehicle
- the shortest distance between them is shown as L2 in Figure 4.
- the reference starting point of the vehicle is the point on the left side of the vehicle
- the lateral distance between the vehicle and the obstacle is the distance between the left side of the vehicle and the nearest boundary point of the obstacle, or it can be understood as any point in the obstacle and the vehicle
- the shortest distance between the left boundary lines shown as L1 in Figure 4.
- the point on the right side of the vehicle can also be used as the reference starting point, then the lateral distance between the vehicle and the obstacle is the shortest distance between any point in the obstacle and the boundary line on the right side of the vehicle, as shown in Figure 4. Not shown.
- the lateral offset distance of the vehicle is the distance between the longitudinal axes of the vehicle before and after the offset, as shown by L4 in FIG. 4 . It will be appreciated that the lateral offset distance may also be obtained using the left or right side of the vehicle.
- the longitudinal distance between the vehicle and the obstacle is the shortest distance between any point in the obstacle and the transverse axis where the centerline point of the vehicle is located, which is not shown in FIG. 4 .
- the distance between the longitudinal axes of the vehicle as indicated by L4 in Figure 4.
- the longitudinal distance between the vehicle and the obstacle is the shortest distance between any point in the obstacle and the longitudinal axis where the front of the vehicle is located, as shown by L3 in FIG. 4 . Since the front of the car will have a certain arc, for safety, the point in the front of the car that is farthest from the longitudinal axis at the center point can be further taken as the reference starting point.
- the lateral distance between the vehicle and the lane boundary can be expressed by the distance between the two sides and the lane boundary on the same side, or the distance between the longitudinal axis of the vehicle and the lane boundary on both sides.
- L5 represents the distance between the left side of the vehicle and the lane boundary
- L6 represents the distance between the right side and the lane boundary.
- L7 L3+2 meters, so it is equivalent to use either variable in L7 or L3.
- the distances between the vehicle and the lane boundary at A are L5 + 0.9 m and L6 + 0.9 m, respectively, and are therefore equivalent variables.
- a desired lateral offset distance may be introduced to ensure the execution of the lateral obstacle avoidance in the lane.
- the desired lateral offset distance may be derived using environmental information.
- the desired lateral offset distance can be regarded as a lateral offset distance with a numerical range, and when the actual lateral offset distance is within the numerical range, it is considered that the actual lateral offset distance satisfies the expected lateral offset distance Otherwise, it is considered that the actual lateral offset distance does not meet the requirements of the desired lateral offset distance.
- the desired lateral offset distance can also be regarded as a specific value.
- the actual lateral offset distance When the difference between the actual lateral offset distance and the specific value is within a certain range, it is considered that the actual lateral offset distance satisfies the expected lateral offset distance. Otherwise, it is considered that the actual lateral offset distance does not meet the requirements of the expected lateral offset distance.
- the actual lateral offset distance can be understood as the lateral offset distance between the vehicle and the obstacle when the vehicle continues to drive.
- the vehicle may be controlled to perform lateral obstacle avoidance within the lane according to the desired lateral offset distance, or it may be understood that the actual lateral offset distance satisfies the desired lateral offset distance when the vehicle is controlled to perform lateral obstacle avoidance within the lane demand.
- the power information of the vehicle can be adjusted to achieve the actual lateral offset distance, so that the actual lateral offset distance of the vehicle meets the requirements of the desired lateral offset and achieves the purpose of lateral obstacle avoidance in the lane .
- the power information may include at least one of the following: angular velocity, steering wheel rotation angle, steering angle and torque. That is to say, the purpose of changing the motion state of the vehicle is achieved by adjusting the power information, so that the lateral offset distance of the adjusted vehicle can meet the requirement of the desired lateral offset distance.
- the adjusted lateral offset distance is the actual offset distance, and the adjustment of the power information can make the vehicle reach the actual lateral offset distance.
- the desired lateral offset distance may be the expected lateral offset distance obtained by the control device in the embodiment of the present application according to the environmental information, which may be a numerical range or a numerical value, that is, the actual lateral offset distance satisfies the expected lateral offset distance.
- the requirement of the offset distance is equivalent to ensuring that the obstacle is avoided and the lane is not exceeded.
- the former is described by the relationship between two parameters, and the latter is described by the actual driving state of the vehicle.
- the power information of the vehicle may be adjusted based on the difference between the expected lateral offset distance and the predicted lateral offset distance. For example, when the difference is within a certain threshold range (that is, the actual lateral offset distance meets the requirement of the desired lateral offset distance), no adjustment is performed, and only when the difference is not within the threshold range (that is, the actual lateral offset distance does not meet the requirement) The adjustment is made only when the desired lateral offset distance is required).
- the predicted lateral offset distance may be a lateral offset distance predicted by the dynamic information of the vehicle.
- the predicted lateral offset distance can be understood as the lateral offset distance formed by the vehicle continuing to drive according to the current power information, that is, the predicted lateral distance can be obtained through the power information.
- the predicted lateral offset distance is not changed, so the actual lateral offset distance is not changed; when the dynamic information is adjusted, the predicted lateral offset distance is changed, so Changed the actual lateral offset distance.
- time T1 is earlier than time T2
- the lateral offset distance at time T2 is the actual lateral offset distance
- the predicted lateral offset distance at time T1 is A meter.
- T2 The lateral offset distance at time is still A meter, that is, the actual lateral offset distance is the same as the predicted lateral offset distance at time T1. If the power information is adjusted at time T1, the lateral offset distance at time T2 is no longer A meters, that is, the actual lateral offset distance is not the same as the predicted lateral offset distance at time T1. T1, T2, and A are all different. is a positive real number.
- the expected lateral offset distance is basically the same as the predicted lateral offset distance, that is, almost no adjustment is required, but if When some parts of the vehicle fail, and the data collection produces noise effects, it may happen that the predicted lateral offset distance is not within the range of the expected lateral offset distance (that is, the actual lateral offset distance does not meet the expected lateral offset distance). Offset distance requirements), at this time, it is necessary to adjust the predicted lateral offset distance to ensure the execution of lateral obstacle avoidance in the lane.
- the predicted lateral offset distance can be obtained from one or more types of dynamic information such as angular velocity, steering angle, and torque.
- the steering wheel will not turn by itself during automatic driving, so it can be
- the predicted lateral offset distance is not obtained by the steering angle of the steering wheel.
- the predicted lateral offset distance can still be obtained through the steering wheel rotation angle.
- the rotation angle of the steering wheel has the greatest influence on the driving direction of the vehicle, and the steering wheel is controlled by the driver. It is difficult for the driver to control the steering wheel to avoid obstacles. This requires the driver's observation, reaction speed, judgment and execution. Therefore, in this scenario, it often occurs.
- the desired lateral offset distance can be used to ensure the effective execution of lateral obstacle avoidance in the lane.
- the predicted lateral offset degree can be obtained according to the rotation angle of the steering wheel, or it can be obtained according to one or more kinds of dynamic information such as angular velocity, steering angle, and torque.
- step 202 when step 202 is performed, it can be implemented according to the first distance and the first threshold. That is to say, the above-mentioned environmental information can be used to indicate a first distance and a first threshold, wherein the first distance is used to represent the distance between the vehicle and the boundary of the lane where it is located, and the first threshold is used to represent the avoidance through lateral obstacle avoidance The minimum lateral offset distance required for the obstacle. Then, when the vehicle obstacle avoidance control is performed according to the environmental information (ie, when step 202 is performed), the vehicle can be controlled to perform lateral obstacle avoidance inside the lane or lateral obstacle avoidance outside the lane according to the first distance and the first threshold.
- the vehicle is controlled to perform off-track lateral obstacle avoidance.
- the first distance is the same as the first threshold, as a critical situation, it is possible to perform lateral obstacle avoidance within the track and lateral obstacle avoidance outside the track. However, it is relatively safe to perform lateral obstacle avoidance outside the track in a critical situation.
- FIG. 5 is a schematic diagram of a scene of lateral obstacle avoidance in a road according to an embodiment of the present application.
- the first distance is L40, which is the distance between the right side of the vehicle and the lane boundary. In practice, it is generally not completely close to the edge of the obstacle, so a certain distance will be reserved, which is represented by L20 in Figure 5.
- the current lateral distance between the vehicle and the obstacle is L10. If the vehicle wants to go around Over obstacles, at least a lateral offset distance of L30 is required, so it is the minimum offset.
- L30 is less than L40, so the vehicle can avoid obstacles in the lane, that is to say, if the L40 in the first distance is greater than L30, it can avoid obstacles laterally in the lane.
- the first distance may be obtained according to boundary information in the road structure information. 3 to 5 , for example, the first distance may be determined according to the information of the boundary in the road structure information (that is, the information of the boundary of the lane where the vehicle is located).
- the first threshold may be obtained through a relative positional relationship between the vehicle and the obstacle and/or through a relative motion relationship between the vehicle and the obstacle, the information of the obstacle and the road structure information indicating the relative positional relationship, and , the dynamic information of the vehicle and the information of the obstacles indicate the relative motion relationship.
- the first threshold may be determined according to the relative positional relationship between the vehicle and the obstacle and/or the relative motion relationship between the vehicle and the obstacle.
- the information of the obstacle may include information of the type of the obstacle in addition to the information of the size of the obstacle and the information of the motion state. Therefore, the first threshold may correspond to the type of the obstacle, That is, the first threshold can be associated with the type of the obstacle.
- the correspondence between the first threshold and the type of the obstacle may be predefined or preset, or the first threshold may also be determined or adjusted according to the type of the obstacle during the obstacle avoidance process.
- the first threshold may be Relatively small, according to Figure 5, the value of L20 is relatively small, so the value of L30 is relatively small, which is equivalent to only need to avoid a small distance of obstacles. If the obstacle is a pedestrian, that is to say, the type of the obstacle is a pedestrian, the first threshold can be relatively large. In combination with Figure 5, the value of L20 is relatively large, so the value of L30 is relatively large, which is equivalent to Avoid as many obstacles as possible for a distance.
- FIG. 9 is a schematic diagram of an obstacle according to an embodiment of the present application being another vehicle.
- vehicle B appears in front of the driving direction of vehicle A, and only a small part of the right side of vehicle B is in the lane where vehicle A is located. In this case, lateral obstacle avoidance in the lane can be performed.
- the correspondence between L20 and the type can be pre-defined or preset so that the first threshold can correspond to the type of the obstacle, that is, in the process of actually encountering the obstacle, the vehicle and the obstacle
- the lateral distance of the obstacle may vary, but when the first threshold is obtained, the value of L20 is predefined. At this time, the lateral distance between the obstacle and the vehicle can be directly added to L20 to obtain the first threshold.
- the reserved distance L20 for pedestrians is 0.6 meters
- the reserved distance L20 for stones is 0.2 meters
- the first threshold at T2 is equivalent to the correspondence between the L20 and the type.
- the above two implementations can ultimately achieve the purpose of corresponding between the first threshold and the type of obstacle, but the first implementation is that the first threshold directly corresponds to the type of obstacle, while the second implementation is to pre- Correspondence between the distance (L20) left and the obstacle and the type of obstacle.
- step 202 may also be executed only under certain execution conditions, that is, only when certain conditions are met, lateral obstacle avoidance within the track or lateral obstacle avoidance outside the track is executed.
- the above control method may further include performing the following operation: when the second distance is less than or equal to the second threshold, performing lateral obstacle avoidance within the track or performing lateral obstacle avoidance outside the track.
- the second distance and the second threshold can be obtained by using environmental information, the second distance is used to represent the longitudinal distance between the vehicle and the obstacle, and the second threshold is used to represent the minimum distance required to avoid obstacles through longitudinal obstacle avoidance Longitudinal distance.
- the following operation may also be performed: when the second distance is greater than the second threshold, perform longitudinal obstacle avoidance.
- the execution of lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane is equivalent to adding an execution condition to the execution of lateral obstacle avoidance, that is, only when the second distance is less than or equal to the second threshold. It is only executed when it is equal to the second threshold value, which is equivalent to first performing the relevant judgment of the second threshold value and then performing the relevant judgment of the first threshold value.
- the related judgments of the first threshold and the second threshold can also be performed at the same time. In this case, it is equivalent to the vehicle performing the following operations:
- control the vehicle When the first distance is less than or equal to the first threshold and the second distance is less than or equal to the second threshold, control the vehicle to perform off-street lateral obstacle avoidance; or
- the above control method may further include performing the following operation: if it is determined that the length of time for performing in-track lateral obstacle avoidance is greater than or equal to a preset time threshold, stopping execution of in-track lateral obstacle avoidance. In this case, it can be considered that after a certain period of time, the control of the lateral obstacle avoidance in the lane is ended.
- the driver's lack of response is generally a few seconds, which is equivalent to suddenly seeing an obstacle and not having time to respond.
- the control of the embodiment of the present application can be used to achieve obstacle avoidance, thereby making up for the driver's error, but if the control The time has elapsed for a few seconds, and the driver has reacted at this time, so he can no longer take over the control, and the control can be returned to the driver.
- the preset time threshold may be obtained from the reaction time of a person. For example, assuming that research shows that the time of human stress response will not exceed 3 seconds, the preset time threshold may be 3 seconds, or may be 3 seconds. Any value of 4 seconds, or even 2.8 seconds, etc., that is to say, the time threshold can be preset according to the actual situation.
- the following takes assisted driving as an example to introduce some control of lateral obstacle avoidance in the lane.
- the vehicle is controlled to perform lateral obstacle avoidance in the lane according to a certain basis, when the driver controls the vehicle, it is prone to overreaction or slow reaction when encountering obstacles.
- a control mechanism can be added at this time, and the lateral offset degree of the vehicle can be adjusted to ensure lateral obstacle avoidance in the lane. In practice, it is equivalent to appropriately reducing the lateral offset degree when the driver overreacts. When the driver's response is slow, the lateral offset degree should be appropriately increased.
- the degree of lateral offset ie, the predicted degree of lateral offset
- the steering angle, torque, etc. ie, adjust the power information
- the degree of lateral offset that is, the degree of predicted lateral offset
- the steering angle, torque, etc. can be adjusted (ie, the power information is adjusted) to increase the too small lateral offset degree.
- the desired lateral offset degree can be viewed as a lateral offset distance or lateral offset angle with a range of values.
- FIG. 6 is a schematic diagram of an execution process of in-track lateral obstacle avoidance according to an embodiment of the present application. Each step shown in FIG. 6 will be introduced below.
- step 201 can be used to perform step 601, and the description is not repeated for brevity.
- step 602 may be performed with reference to the relevant introduction in step 202, and the description will not be repeated for brevity.
- steps 601 and 602 are not steps in the specific execution process of in-track lateral obstacle avoidance, but in order to facilitate the understanding of the relationship between in-track lateral obstacle avoidance and the aforementioned obstacle avoidance control scheme, steps 601 and 602 are given. Step 602.
- a device such as a controller or a processor that can execute step 602 gives a trigger instruction or a trigger electrical signal, thereby triggering the lateral obstacle avoidance control in the lane.
- the degree of lateral deviation in the case where the vehicle continues to travel according to the power information can be predicted based on the power information of the vehicle.
- the predicted lateral deviation degree can be understood as the predicted amount of lateral deviation of the vehicle under the actual steering angle, torque, speed, angular velocity and other parameters of the current vehicle.
- step 605. Determine whether the predicted lateral offset degree will cause the obstacle to be avoided.
- the inability to avoid obstacles is the result of the predicted lateral offset degree being much smaller than the expected lateral offset degree, that is, when the vehicle continues to drive according to the current power information without adjustment, the predicted lateral offset Therefore, the actual lateral offset degree remains unchanged, which is equivalent to the fact that the actual lateral offset degree will be insufficient (an example in which the actual lateral offset degree cannot meet the requirement of the desired lateral offset degree).
- the power information can be adjusted to increase the predicted lateral offset degree that is insufficient (ie, too small), so that the actual lateral offset degree can be increased to meet the requirement of the desired lateral offset degree.
- the adjustment of the power information in this step can make the vehicle reach the actual lateral offset degree, that is to say, the adjusted power information determines the actual lateral offset degree of the vehicle continuing to travel after the adjustment.
- step 607. Determine whether the predicted lateral deviation degree will cause the vehicle to overtake the lane where it is located.
- the determination result is "Yes”
- step 609 and when the determination result is "No”, go to step 608.
- the predicted lateral deviation degree is much larger than the expected lateral deviation degree. That is to say, when the vehicle continues to drive according to the current power information without adjustment, the predicted lateral deviation degree Therefore, the actual lateral offset degree remains unchanged, which is equivalent to the fact that the actual lateral offset degree will be too large (another example where the actual lateral offset degree cannot meet the requirement of the expected lateral offset degree).
- the predicted lateral deviation degree can ensure that the obstacle is avoided and the vehicle does not exceed the lane, the dynamic information is not adjusted.
- the predicted lateral deviation degree can ensure that the obstacle is avoided and the vehicle does not exceed the lane, the dynamic information is not adjusted.
- the predicted lateral deviation degree can ensure that the actual lateral deviation degree meets the requirement of the expected lateral deviation degree, and the power information is kept unchanged at this time.
- the excessively large predicted lateral offset degree can be reduced, so that the actual lateral offset degree can be reduced to meet the requirement of the desired lateral offset degree.
- Fig. 6 is only an example provided to clearly present the solution, that is to say, the solution is to adjust the power information so that the predicted lateral offset degree changes, so as to ensure that the vehicle can avoid obstacles and not exceed One possible example of lane boundaries.
- step 605 is performed first and then step 607 is performed.
- Figure 6 only illustrates one round of execution, but in practice, steps 605 to 609 can be repeatedly executed, which is equivalent to constantly correcting the forward trajectory of the vehicle to ensure lateral obstacle avoidance in the lane.
- the present application does not limit the execution order of each step in the control method provided in FIG. 6 .
- steps 604-609 can be regarded as an implementation manner of adjusting the dynamic information so that the actual lateral offset degree meets the requirement of the desired lateral offset degree, that is, the actual lateral offset degree is made by means of the predicted lateral offset degree.
- the degree of displacement meets the requirements of the expected lateral offset degree
- steps 605-609 ensure the execution of lateral obstacle avoidance in the lane by adjusting the dynamic information
- steps 605-606 correspond to prediction
- steps 607 and 609 correspond to In the case of predicting that the degree of lateral offset is too large, if continuing to drive according to the current power information, the actual degree of lateral offset will be too large (that is, another example where the actual degree of lateral offset does not meet
- the two can be regarded as lateral offsets. degree.
- the lateral offset distance of vehicle A is 1 meter, and at this time, a certain angle must be formed between vehicle A and the original position, so this angle can be used to describe the degree of lateral offset of vehicle A.
- the parameters corresponding to the lateral offset distance can be substituted for the lateral offset distance.
- the first threshold can be used to represent The minimum lateral offset angle required to avoid the obstacle by lateral obstacle avoidance.
- the obstacle avoidance method is further subdivided, and the vehicle can be controlled to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane according to the environmental information, thereby improving the overall obstacle avoidance performance, for example, it can ensure assisted driving or Obstacle avoidance performance in intelligent driving.
- control method of the vehicle according to the embodiment of the present application is described above, and the control device of the vehicle according to the embodiment of the present application is described below. It should be understood that the control device introduced below can execute each process of the control method of the embodiment of the present application, and the repeated description will be appropriately omitted when the embodiment of the device is introduced below.
- FIG. 7 is a schematic diagram of a control device according to an embodiment of the present application.
- the apparatus 2000 includes an acquisition unit 2001 and a processing unit 2002 .
- the apparatus 2000 can be used to execute each step of the vehicle control method according to the embodiment of the present application.
- the acquiring unit 2001 may be configured to perform step 201 in the method shown in FIG. 2
- the processing unit 2002 may be configured to perform step 202 in the method shown in FIG. 2 .
- the acquiring unit 2001 can be used to execute steps 601 and 604 in the method shown in FIG. 6
- the processing unit 2002 can be used to execute steps 602 , 603 , 605 to 609 in the method shown in FIG. 6 .
- the foregoing apparatus 2000 may be the control apparatus 420 shown in FIG. 4 , wherein the obtaining unit 2001 may be equivalent to the obtaining unit 421 , and the processing unit 2002 may be equivalent to the processing unit 422 .
- FIG. 8 is a schematic diagram of a control device according to an embodiment of the present application.
- the apparatus 3000 may include at least one processor 3002 and a communication interface 3003 .
- the apparatus 3000 may further include at least one of a memory 3001 and a bus 3004 .
- a memory 3001 and a bus 3004 .
- any two or all three of the memory 3001 , the processor 3002 and the communication interface 3003 can be connected to each other through the bus 3004 for communication.
- the memory 3001 may be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (random access memory, RAM).
- the memory 3001 can store a program.
- the processor 3002 and the communication interface 3003 are used to execute various steps of the vehicle control method of the embodiment of the present application. That is to say, the processor 3002 may acquire stored instructions from the memory 3001 through the communication interface 3003 to execute various steps of the vehicle control method of the embodiment of the present application.
- the memory 3001 may have the function of the memory 152 shown in FIG. 1 to realize the above-mentioned function of storing programs.
- the processor 3002 may adopt a general-purpose CPU, a microprocessor, an ASIC, a graphics processing unit (graphic processing unit, GPU), or one or more integrated circuits, for executing related programs, so as to implement the functions of the embodiments of the present application. The functions that need to be performed by the units in the control device, or each step of the control method in the embodiment of the present application is performed.
- the processor 3002 may have the function of the processor 151 shown in FIG. 1 to realize the above-mentioned function of executing the related program.
- the processor 3002 may also be an integrated circuit chip with signal processing capability.
- each step of the control method of the embodiment of the present application may be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software.
- the above-mentioned processor 3002 may also be a general-purpose processor, a digital signal processor (digital signal processing, DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (field programmable gate array, FPGA) or other Programming logic devices, discrete gate or transistor logic devices, discrete hardware components.
- DSP digital signal processing
- ASIC application-specific integrated circuit
- FPGA field programmable gate array
- Programming logic devices discrete gate or transistor logic devices, discrete hardware components.
- a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
- the steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor.
- the software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art.
- the storage medium is located in the memory, and the processor reads the information in the memory and, in combination with its hardware, completes the functions required to be performed by the units included in the vehicle control device of the embodiment of the present application, or executes the functions of the vehicle control method of the embodiment of the present application. each step.
- the communication interface 3003 may use a transceiver device such as, but not limited to, a transceiver to implement communication between the device and other devices or a communication network.
- the communication interface 3003 may also be, for example, an interface circuit.
- the bus 3004 may include pathways for transferring information between various components of the device (eg, memory, processor, communication interface).
- the embodiments of the present application further provide a computer program product including instructions, and when the instructions are executed by a computer, the instructions cause the computer to implement the methods in the foregoing method embodiments.
- An embodiment of the present application further provides a terminal, where the terminal includes any one of the above control devices, for example, the control device shown in FIG. 7 or FIG. 8 .
- control device in the above terminal can be used to control the vehicle, but those skilled in the art know that in other possible scenarios, the terminal can also be a possible device such as a drone or a robot, that is, the above mentioned
- the "vehicle" of the vehicle can be replaced with "terminal”.
- the above-mentioned road structure and information such as inside and outside the road can also be replaced with the route channel or environmental structure where the terminal such as drone or robot is located, and the route based on the above-mentioned route.
- Intra-channel and out-of-channel information captured by a channel or environmental structure The functions and explanations of specific terms can be obtained by referring to the type and environment of the actual terminal. This application is described with a vehicle as an example, but the solution can be extended to other possible terminal types.
- the terminal may also be a terminal for remotely controlling the vehicle. That is to say, the above-mentioned control device may be installed on the controlled vehicle, or may be independent of the controlled vehicle.
- the controlled vehicle may be controlled by a drone, other
- the above-mentioned controlled vehicles can also be other devices such as drones and robots.
- Computer readable media may include, but are not limited to, magnetic storage devices (eg, hard disks, floppy disks, or magnetic tapes, etc.), optical disks (eg, compact discs (CDs), digital versatile discs (DVDs), etc. ), smart cards and flash memory devices (eg, erasable programmable read-only memory (EPROM), cards, stick or key drives, etc.).
- magnetic storage devices eg, hard disks, floppy disks, or magnetic tapes, etc.
- optical disks eg, compact discs (CDs), digital versatile discs (DVDs), etc.
- smart cards and flash memory devices eg, erasable programmable read-only memory (EPROM), cards, stick or key drives, etc.
- the various storage media described herein may represent one or more devices and/or other machine-readable media for storing information.
- the term "machine-readable medium” may include, but is not limited to, wireless channels and various other media capable of storing, containing, and/or carrying instructions and/or data.
- the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components
- the memory storage module
- the disclosed apparatus and method may be implemented in other manners.
- the apparatus embodiments described above are only illustrative.
- the division of the units is only a logical function division. In actual implementation, there may be other division methods.
- multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
- the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.
- the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
- each functional unit in each embodiment of the present application may be integrated into one unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
- the functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium.
- the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution can be embodied in the form of a computer software product, and the computer software product is stored in a storage
- the computer software product includes several instructions, the instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
- the aforementioned storage medium may include, but is not limited to, various media that can store program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
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Abstract
Provided are a control method and a control apparatus, which are applicable to various types of vehicles, such as a traditional automobile, a new energy automobile and an intelligent automobile. The control method comprises: acquiring environmental information of a vehicle, wherein the environmental information comprises information of an obstacle and road structure information; and then controlling, according to the environmental information, the vehicle to execute in-lane lateral obstacle avoidance or out-lane lateral obstacle avoidance. According to the solution, lateral obstacle avoidance modes are further broken down, and in-lane lateral obstacle avoidance or out-lane lateral obstacle avoidance can be executed according to environmental information; moreover, using in-lane lateral obstacle avoidance can not only effectively avoid obstacles, but also has higher safety, such that obstacle avoidance performance during assisted driving or intelligent driving is ensured.
Description
本申请涉及终端控制领域,尤其涉及一种车辆的控制方法和控制装置。The present application relates to the field of terminal control, and in particular, to a vehicle control method and control device.
随着人们生活水平的提高以及城市化的不断发展,道路上车辆、行人等拥堵状况越来越多,以及自动驾驶的发展,对于车辆的安全性也提出了越来越高的要求。而车辆避障是直接影响安全性的重要因素,现有的车辆避障方案大多通过纵向避障或横向避障实现,纵向避障主要通过减速、刹车等手段,使得尽量避免碰撞到车辆正前方的障碍物,从而避免事故,但是这需要与障碍物之间的距离足够,如果距离过短,纵向避障会失败。此外,纵向避障还会影响车辆的正常行驶,且如果障碍物不清除,还会导致车辆不能继续前进。而横向避障相比于纵向避障是更为迅速和有效的避障方式,相当于绕过障碍物继续行驶,但是由于一般驾驶时最关注的是车辆前方的纵向视野范围,如果选择横向避障,会受到横向的其他车辆或行人等的影响,所以可能出现在避障的过程中反而引起其他碰撞的情况,例如为了躲避行人与邻车道行驶的车辆相撞这类事故。也就是说,现有技术中,无论采用纵向避障还是采用横向避障都存在避障效果不理想的问题。With the improvement of people's living standards and the continuous development of urbanization, there are more and more congestion of vehicles and pedestrians on the road, and the development of automatic driving has also put forward higher and higher requirements for the safety of vehicles. Vehicle obstacle avoidance is an important factor that directly affects safety. Most of the existing vehicle obstacle avoidance schemes are realized by longitudinal or lateral obstacle avoidance. Longitudinal obstacle avoidance is mainly through deceleration, braking and other means, so as to avoid collision in front of the vehicle as much as possible The obstacle to avoid accidents, but this requires a sufficient distance from the obstacle, if the distance is too short, longitudinal obstacle avoidance will fail. In addition, longitudinal obstacle avoidance will also affect the normal driving of the vehicle, and if the obstacle is not cleared, the vehicle cannot continue to move forward. Compared with vertical obstacle avoidance, lateral obstacle avoidance is a faster and more effective way to avoid obstacles, which is equivalent to continuing to drive around obstacles. It will be affected by other vehicles or pedestrians in the lateral direction, so it may cause other collisions in the process of avoiding obstacles, such as collisions between pedestrians and vehicles driving in adjacent lanes. That is to say, in the prior art, whether vertical obstacle avoidance or horizontal obstacle avoidance is adopted, there is a problem that the obstacle avoidance effect is not ideal.
因此,如何提高避障性能是亟待解决的技术问题。Therefore, how to improve the obstacle avoidance performance is an urgent technical problem to be solved.
发明内容SUMMARY OF THE INVENTION
本申请提供了一种车辆的控制方法和控制装置,能够达到更好的避障性能,提高安全性。The present application provides a vehicle control method and control device, which can achieve better obstacle avoidance performance and improve safety.
第一方面,提供一种控制方法,该方法包括:获取车辆的环境信息,该环境信息包括障碍物的信息和道路结构信息,根据环境信息控制车辆执行道内横向避障或者道外横向避障。In a first aspect, a control method is provided. The method includes: acquiring environmental information of a vehicle, the environmental information including obstacle information and road structure information, and controlling the vehicle to perform lateral obstacle avoidance on the road or lateral obstacle avoidance on the road according to the environmental information.
在本申请技术方案中,该方案通过将横向避障方式进一步细分,并可以根据环境信息来执行道内横向避障或道外横向避障,而采用道内横向避障既能有效避障又因为不会影响邻车道目标车辆的行为而具有更高的安全性,从而提高了整体的避障性能。In the technical solution of the present application, the solution further subdivides the lateral obstacle avoidance method, and can perform lateral obstacle avoidance within the track or lateral obstacle avoidance outside the track according to the environmental information. It will affect the behavior of the target vehicle in the adjacent lane and have higher safety, thereby improving the overall obstacle avoidance performance.
上述环境信息可以来自于至少一个传感器、存储器或者通信接口中的至少一个。The above-mentioned environmental information may come from at least one of at least one sensor, memory or communication interface.
应理解,道内可以理解为不变道或者理解为车道内,也就是说,不超出车辆所在车道。道外可以理解为变道或者理解为车道外,也就是说,会超出车辆所在车道。道内横向避障和道外横向避障是对横向避障的进一步划分。It should be understood that in-lane can be understood as no lane or as in-lane, that is, not beyond the lane where the vehicle is located. Out-of-lane can be understood as changing lanes or as out-of-lane, that is, beyond the lane where the vehicle is located. On-track lateral obstacle avoidance and off-track lateral obstacle avoidance are further divisions of lateral obstacle avoidance.
结合第一方面,在第一方面的某些实现方式中,在控制车辆执行道内横向避障时,可以使得实际横向偏移距离满足期望横向偏移距离的需求,期望横向偏移距离是通过环境信息得到的。With reference to the first aspect, in some implementations of the first aspect, when the vehicle is controlled to perform lateral obstacle avoidance in the lane, the actual lateral offset distance can be made to meet the requirement of the desired lateral offset distance, and the expected lateral offset distance is determined by the environment. information obtained.
在一种情况下,期望横向偏移距离可以看作是一个具有数值范围的横向偏移距离,当实际横向偏移距离在该数值范围内的时候,认为实际横向偏移距离满足期望横向偏移距离 的需求,否则认为实际横向偏移距离不满足期望横向偏移距离的需求。在另一种情况下,期望横向偏移距离也可以看作是一个具体数值,当实际横向偏移距离与该具体数值的差值在一定范围内的时候认为实际横向偏移距离满足期望横向偏移距离的需求,否则认为实际横向偏移距离不满足期望横向偏移距离的需求。In one case, the desired lateral offset distance can be regarded as a lateral offset distance with a numerical range, and when the actual lateral offset distance is within the numerical range, it is considered that the actual lateral offset distance satisfies the expected lateral offset distance Otherwise, it is considered that the actual lateral offset distance does not meet the requirements of the desired lateral offset distance. In another case, the desired lateral offset distance can also be regarded as a specific value. When the difference between the actual lateral offset distance and the specific value is within a certain range, it is considered that the actual lateral offset distance satisfies the expected lateral offset distance. Otherwise, it is considered that the actual lateral offset distance does not meet the requirements of the expected lateral offset distance.
实际横向偏移距离可以理解为是车辆在继续行驶时,与障碍物之间的横向偏移距离。The actual lateral offset distance can be understood as the lateral offset distance between the vehicle and the obstacle when the vehicle continues to drive.
期望横向偏移距离可以是本申请实施例的控制装置根据环境信息获取的期望的横向偏移距离,也就是说,按照期望横向偏移距离行驶就可以既能保证避开障碍物又能保证不超出车道。结合第一方面,在第一方面的某些实现方式中,在上述控制车辆执行道内横向避障时,可以通过调整车辆的动力信息来实现,该动力信息的调整可以使得达到上述实际横向偏移距离。动力信息可以包括以下至少一种:角速度、方向盘转动角度、转向角和转矩。也就是说,通过调整动力信息来达到改变车辆运动状态的目的,从而使得调整后车辆的横向偏移距离(此处即为实际横向偏移距离)能够满足期望横向偏移距离的需求。The desired lateral offset distance may be the desired lateral offset distance obtained by the control device in the embodiment of the present application according to the environmental information, that is to say, driving according to the desired lateral offset distance can ensure that both obstacles are avoided and no obstacles can be guaranteed. out of lane. In combination with the first aspect, in some implementations of the first aspect, when the above-mentioned control vehicle executes lateral obstacle avoidance in the lane, it can be achieved by adjusting the power information of the vehicle, and the adjustment of the power information can make the actual lateral offset described above be achieved. distance. The power information may include at least one of the following: angular velocity, steering wheel rotation angle, steering angle, and torque. That is to say, the purpose of changing the motion state of the vehicle is achieved by adjusting the power information, so that the adjusted lateral offset distance of the vehicle (here, the actual lateral offset distance) can meet the requirement of the desired lateral offset distance.
在另一个例子中,可以根据期望横向偏移距离和预测横向偏移距离的差值来调整车辆的动力信息。例如可以在当差值在一定阈值范围内(即实际横向偏移距离满足期望横向偏移距离的需求)时不进行调整,只有在该差值不在阈值范围内(即实际横向偏移距离不满足期望横向偏移距离的需求)的时候才进行调整。预测横向偏移距离则可以是通过车辆的动力信息预测得到的横向偏移距离。预测横向偏移距离可以理解为车辆根据当前的动力信息继续行驶会形成的横向偏移距离,也就是说,预测横向距离是可以通过动力信息得到的。当不进行动力信息的调整的时候,相当于没有改变预测横向偏移距离,因此也没有改变实际横向偏移距离;当进行动力信息的调整的时候,相当于改变了预测横向偏移距离,从而改变了实际横向偏移距离。In another example, the power information of the vehicle may be adjusted based on the difference between the expected lateral offset distance and the predicted lateral offset distance. For example, when the difference is within a certain threshold range (that is, the actual lateral offset distance meets the requirement of the desired lateral offset distance), no adjustment is performed, and only when the difference is not within the threshold range (that is, the actual lateral offset distance does not meet the requirement) The adjustment is made only when the desired lateral offset distance is required). The predicted lateral offset distance may be a lateral offset distance predicted by the dynamic information of the vehicle. The predicted lateral offset distance can be understood as the lateral offset distance formed by the vehicle continuing to drive according to the current power information, that is, the predicted lateral distance can be obtained through the power information. When the dynamic information is not adjusted, the predicted lateral offset distance is not changed, so the actual lateral offset distance is not changed; when the dynamic information is adjusted, the predicted lateral offset distance is changed, so Changed the actual lateral offset distance.
结合第一方面,在第一方面的某些实现方式中,上述环境信息可以用于指示第一距离和第一阈值,第一距离用于表示车辆与所在车道的边界之间的距离,第一阈值用于表示通过横向避障避开障碍物需要的最小横向偏移距离。在上述根据环境信息控制车辆执行道内横向避障或者道外横向避障的过程中可以根据第一距离和第一阈值,控制车辆执行道内横向避障或者执行道外横向避障。With reference to the first aspect, in some implementations of the first aspect, the above-mentioned environmental information may be used to indicate a first distance and a first threshold, the first distance is used to indicate the distance between the vehicle and the boundary of the lane where it is located, and the first The threshold is used to represent the minimum lateral offset distance required to avoid obstacles through lateral obstacle avoidance. In the above process of controlling the vehicle to perform in-lane lateral obstacle avoidance or out-lane lateral obstacle avoidance according to the environmental information, the vehicle may be controlled to perform in-lane lateral obstacle avoidance or out-lane lateral obstacle avoidance according to the first distance and the first threshold.
也就是说,当车辆与相邻车道线或路沿的距离小于该第一阈值时,说明无法在不变道的情况下绕过障碍物,此时不能进行道内横向避障,当车辆与相邻车道线或路沿大于或等于该第一阈值时,说明可以在不变道的情况下绕过障碍物,此时可以进行道内横向避障。That is to say, when the distance between the vehicle and the adjacent lane line or road edge is less than the first threshold, it means that the obstacle cannot be bypassed without changing the lane. At this time, the lateral obstacle avoidance in the lane cannot be performed. When the adjacent lane line or road edge is greater than or equal to the first threshold, it means that the obstacle can be bypassed without changing the lane, and lateral obstacle avoidance within the lane can be performed at this time.
结合第一方面,在第一方面的某些实现方式中,在上述根据第一距离和第一阈值控制车辆执行道内横向避障或者执行道外横向避障的过程中,可以执行以下操作:With reference to the first aspect, in some implementations of the first aspect, in the above process of controlling the vehicle to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane according to the first distance and the first threshold, the following operations may be performed:
当第一距离大于第一阈值时,控制车辆执行道内横向避障;或者When the first distance is greater than the first threshold, control the vehicle to perform lateral obstacle avoidance within the lane; or
当第一距离小于或者等于第一阈值时,控制车辆执行道外横向避障。When the first distance is less than or equal to the first threshold, the vehicle is controlled to perform off-track lateral obstacle avoidance.
需要说明的是,第一距离和第一阈值相同的情况,作为一个临界的情况既可以执行道内横向避障,也可以执行道外横向避障,但是,临界情况执行道外横向避障相对安全。It should be noted that, in the case where the first distance is the same as the first threshold, as a critical situation, it is possible to perform lateral obstacle avoidance within the track and lateral obstacle avoidance outside the track. However, it is relatively safe to perform lateral obstacle avoidance outside the track in a critical situation.
在确定第一阈值时,可以根据车辆与障碍物的相对位置关系和/或车辆与障碍物的相对运动关系确定第一阈值,相对位置关系可以是根据障碍物的信息和道路结构信息确定的,相对运动关系则可以是根据车辆的动力信息和障碍物的信息确定的。When determining the first threshold, the first threshold may be determined according to the relative positional relationship between the vehicle and the obstacle and/or the relative motion relationship between the vehicle and the obstacle, and the relative positional relationship may be determined according to the information of the obstacle and the road structure information, The relative motion relationship can be determined according to the dynamic information of the vehicle and the information of obstacles.
结合第一方面,在第一方面的某些实现方式中,第一距离是通过道路结构信息中的边 界的信息获取的,第一阈值是通过车辆与障碍物的相对位置关系和/或车辆与障碍物的相对运动关系获取的,障碍物的信息和道路结构信息指示了相对位置关系,以及,车辆的动力信息和障碍物的信息指示了相对运动关系。With reference to the first aspect, in some implementations of the first aspect, the first distance is obtained through the information of the boundary in the road structure information, and the first threshold is obtained through the relative positional relationship between the vehicle and the obstacle and/or the vehicle and the obstacle. Obtained from the relative motion relationship of the obstacle, the information of the obstacle and the road structure information indicate the relative positional relationship, and the dynamic information of the vehicle and the information of the obstacle indicate the relative motion relationship.
障碍物的信息除了可以包括障碍物的尺寸信息、运动状态信息等信息以外,还可以包括障碍物的类型的信息,因此,还可以将第一阈值与障碍物的类型进行对应,即第一阈值可以对应于障碍物的类型。The information of the obstacle may include information such as the size information and motion state information of the obstacle, as well as the information of the type of the obstacle. Therefore, the first threshold value can also be corresponding to the type of the obstacle, that is, the first threshold value Can correspond to the type of obstacle.
结合第一方面,在第一方面的某些实现方式中,障碍物的信息包括障碍物的类型,第一阈值对应于障碍物的类型。With reference to the first aspect, in some implementations of the first aspect, the information of the obstacle includes the type of the obstacle, and the first threshold corresponds to the type of the obstacle.
结合第一方面,在第一方面的某些实现方式中,第一阈值与障碍物的类型的对应关系是预先定义或者设置的,或者第一阈值可以根据障碍物的类型确定或者调整。With reference to the first aspect, in some implementations of the first aspect, the correspondence between the first threshold and the type of the obstacle is predefined or set, or the first threshold may be determined or adjusted according to the type of the obstacle.
可选地,还可以对执行道内横向避障或道外横向避障设置一定的执行条件,使得只有在满足一定条件的时候才会执行道内横向避障或道外横向避障。Optionally, certain execution conditions may also be set for the execution of lateral obstacle avoidance within the track or lateral obstacle avoidance outside the track, so that the lateral obstacle avoidance within the track or the lateral obstacle avoidance outside the track will be executed only when certain conditions are met.
结合第一方面,在第一方面的某些实现方式中,上述环境信息还用于指示第二距离和第二阈值,第二距离用于表示车辆与障碍物之间的纵向距离,第二阈值用于表示通过纵向避障避开障碍物需要的最小纵向距离,则上述根据环境信息,控制车辆执行道内横向避障或者道外横向避障,可以包括:With reference to the first aspect, in some implementations of the first aspect, the above-mentioned environmental information is further used to indicate a second distance and a second threshold, the second distance is used to indicate the longitudinal distance between the vehicle and the obstacle, and the second threshold It is used to indicate the minimum longitudinal distance required to avoid obstacles through longitudinal obstacle avoidance. The above-mentioned control of the vehicle to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane according to the environmental information may include:
当第二距离小于或等于第二阈值时,执行道内横向避障或执行道外横向避障。When the second distance is less than or equal to the second threshold, perform lateral obstacle avoidance within the track or execute lateral obstacle avoidance outside the track.
在上述实现方式的一个例子中,还可以执行下面的操作:当第二距离大于第二阈值时,执行纵向避障。In an example of the above implementation manner, the following operation may also be performed: when the second distance is greater than the second threshold, perform longitudinal obstacle avoidance.
可选地,当执行道内横向避障的时间长度大于或等于预设时间阈值时,停止执行道内横向避障。这种情况下,可以看作是超过一定时间之后,就结束对于道内横向避障和道外横向避障的控制。相当于将车辆的控制权交还给其他模块或者是交还给驾驶员控制。举例说明,驾驶员反应不足一般也就是几秒钟,相当于突然看到障碍物没来得及反应,此时可以通过本申请实施例的控制来实现避障,从而弥补驾驶员的失误,但如果控制时间已经过去这几秒,此时驾驶员已经反应过来了,则可以不再接管控制,可以将控制权交还给驾驶员。Optionally, when the length of time for executing the lateral obstacle avoidance within the track is greater than or equal to a preset time threshold, the execution of the lateral obstacle avoidance within the track is stopped. In this case, it can be considered that the control of the lateral obstacle avoidance inside the track and the lateral obstacle avoidance outside the track is ended after a certain period of time. It is equivalent to returning control of the vehicle to other modules or to the driver. For example, the driver's lack of response is generally a few seconds, which is equivalent to suddenly seeing an obstacle and not having time to respond. At this time, the control of the embodiment of the present application can be used to achieve obstacle avoidance, so as to make up for the driver's error, but if the control The time has elapsed for a few seconds, and the driver has reacted at this time, so he can no longer take over the control, and the control can be returned to the driver.
结合第一方面,在第一方面的某些实现方式中,若确定执行道内横向避障的时间长度大于或等于预设时间阈值时,停止执行道内横向避障。With reference to the first aspect, in some implementations of the first aspect, if it is determined that the length of time for performing lateral obstacle avoidance within the track is greater than or equal to a preset time threshold, the execution of lateral obstacle avoidance within the track is stopped.
第二方面,提供一种控制装置,该装置包括用于执行上述第一方面的任意一种实现方式的方法的单元。该控制装置可以包括获取单元和处理单元,获取单元可以用于获取车辆的环境信息,该环境信息包括障碍物的信息和道路结构信息,处理单元可以用于根据环境信息控制车辆执行道内横向避障或者道外横向避障。In a second aspect, a control device is provided, the device including a unit for executing the method of any one of the implementation manners of the first aspect above. The control device may include an acquisition unit and a processing unit, the acquisition unit may be used to acquire environmental information of the vehicle, the environmental information includes information of obstacles and road structure information, and the processing unit may be used to control the vehicle to perform lateral obstacle avoidance in the lane according to the environmental information Or lateral obstacle avoidance outside the road.
结合第二方面,在第二方面的某些实现方式中,处理单元在控制车辆执行道内横向避障时,可以具体用于控制所述车辆执行道内横向避障,以使得实际横向偏移距离满足期望横向偏移距离的需求,该期望横向偏移距离是通过上述环境信息得到的。With reference to the second aspect, in some implementations of the second aspect, when controlling the vehicle to perform lateral obstacle avoidance in the lane, the processing unit may be specifically configured to control the vehicle to perform lateral obstacle avoidance in the lane, so that the actual lateral offset distance satisfies The demand for the desired lateral offset distance, which is obtained from the above-mentioned environmental information.
结合第二方面,在第二方面的某些实现方式中,处理单元在上述控制车辆执行道内横向避障时,可以具体通过调整车辆的动力信息来实现,该动力信息的调整可以使得车辆达到上述实际横向偏移距离。动力信息可以包括以下至少一种:角速度、方向盘转动角度、转向角和转矩。In combination with the second aspect, in some implementations of the second aspect, when the processing unit controls the vehicle to perform lateral obstacle avoidance in the lane, it can be specifically implemented by adjusting the power information of the vehicle, and the adjustment of the power information can make the vehicle reach the above-mentioned level. Actual lateral offset distance. The power information may include at least one of the following: angular velocity, steering wheel rotation angle, steering angle, and torque.
结合第二方面,在第二方面的某些实现方式中,上述环境信息可以用于指示第一距离和第一阈值,第一距离用于表示车辆与所在车道的边界之间的距离,第一阈值用于表示通过横向避障避开障碍物需要的最小横向偏移距离。处理单元在上述根据环境信息控制车辆执行道内横向避障或者道外横向避障的过程中,具体可以根据第一距离和第一阈值,控制车辆执行道内横向避障或者执行道外横向避障。With reference to the second aspect, in some implementations of the second aspect, the above-mentioned environmental information may be used to indicate a first distance and a first threshold, the first distance is used to indicate the distance between the vehicle and the boundary of the lane where it is located, and the first The threshold is used to represent the minimum lateral offset distance required to avoid obstacles through lateral obstacle avoidance. In the above process of controlling the vehicle to perform lateral obstacle avoidance within the lane or lateral obstacle avoidance outside the lane according to the environment information, the processing unit may specifically control the vehicle to perform lateral obstacle avoidance within the lane or lateral obstacle avoidance outside the lane according to the first distance and the first threshold.
结合第二方面,在第二方面的某些实现方式中,处理单元在上述根据第一距离和第一阈值控制车辆执行道内横向避障或者执行道外横向避障的过程中,具体可以用于:With reference to the second aspect, in some implementations of the second aspect, in the above-mentioned process of controlling the vehicle to perform lateral obstacle avoidance inside the lane or lateral obstacle avoidance outside the lane according to the first distance and the first threshold, the processing unit may be specifically used for:
当第一距离大于第一阈值时,控制车辆执行道内横向避障;或者When the first distance is greater than the first threshold, control the vehicle to perform lateral obstacle avoidance within the lane; or
当第一距离小于或者等于第一阈值时,控制车辆执行道外横向避障。When the first distance is less than or equal to the first threshold, the vehicle is controlled to perform off-track lateral obstacle avoidance.
需要说明的是,第一距离和第一阈值相同的情况,作为一个临界的情况既可以设置为选择道内横向避障,也可以设置为选择道外横向避障,但是,临界情况选择道外横向避障相对安全。It should be noted that the situation where the first distance and the first threshold are the same, as a critical situation, can either be set to select the lateral obstacle avoidance within the track, or can be set to select the lateral obstacle avoidance outside the track. However, in the critical case, select the lateral obstacle avoidance outside the track. Relatively safe.
结合第二方面,在第二方面的某些实现方式中,第一距离是通过道路结构信息中的边界的信息获取的,第一阈值是通过车辆与障碍物的相对位置关系和/或车辆与障碍物的相对运动关系获取的,障碍物的信息和道路结构信息指示了相对位置关系,以及,车辆的动力信息和障碍物的信息指示了相对运动关系。With reference to the second aspect, in some implementations of the second aspect, the first distance is obtained through information of the boundary in the road structure information, and the first threshold is obtained through the relative positional relationship between the vehicle and the obstacle and/or the vehicle and the obstacle. Obtained from the relative motion relationship of the obstacle, the information of the obstacle and the road structure information indicate the relative positional relationship, and the dynamic information of the vehicle and the information of the obstacle indicate the relative motion relationship.
结合第二方面,在第二方面的某些实现方式中,障碍物的信息包括障碍物的类型,第一阈值对应于障碍物的类型。With reference to the second aspect, in some implementations of the second aspect, the information of the obstacle includes the type of the obstacle, and the first threshold corresponds to the type of the obstacle.
结合第二方面,在第二方面的某些实现方式中,第一阈值与障碍物的类型的对应关系是预先定义或者设置的,或者第一阈值可以根据障碍物的类型确定或者调整。With reference to the second aspect, in some implementations of the second aspect, the correspondence between the first threshold and the type of the obstacle is predefined or set, or the first threshold may be determined or adjusted according to the type of the obstacle.
结合第二方面,在第二方面的某些实现方式中,上述环境信息还用于指示第二距离和第二阈值,第二距离用于表示车辆与障碍物之间的纵向距离,第二阈值用于表示通过纵向避障避开障碍物需要的最小纵向距离,控制单元在用于控制车辆执行道内横向避障或者道外横向避障,可以具体用于:With reference to the second aspect, in some implementations of the second aspect, the above environmental information is further used to indicate a second distance and a second threshold, the second distance is used to indicate the longitudinal distance between the vehicle and the obstacle, and the second threshold It is used to indicate the minimum longitudinal distance required to avoid obstacles through longitudinal obstacle avoidance. When the control unit is used to control the vehicle to perform lateral obstacle avoidance inside the lane or lateral obstacle avoidance outside the lane, it can be specifically used for:
当第二距离小于或等于第二阈值时,执行道内横向避障或执行道外横向避障。When the second distance is less than or equal to the second threshold, perform lateral obstacle avoidance within the track or execute lateral obstacle avoidance outside the track.
结合第二方面,在第二方面的某些实现方式中,处理单元还可以用于,若确定执行道内横向避障的时间长度大于或等于预设时间阈值时,停止执行道内横向避障。With reference to the second aspect, in some implementations of the second aspect, the processing unit may be further configured to stop executing the in-track lateral obstacle avoidance if it is determined that the time period for performing in-track lateral obstacle avoidance is greater than or equal to a preset time threshold.
第三方面,提供一种芯片,所述芯片包括至少一个处理器与接口电路,所述至少一个处理器通过所述接口电路获取存储器上存储的指令,执行上述第一方面的任意一种实现方式中的方法。A third aspect provides a chip, the chip includes at least one processor and an interface circuit, the at least one processor obtains instructions stored in a memory through the interface circuit, and executes any one of the implementation manners of the first aspect above method in .
可选地,作为一种实现方式,所述芯片还可以包括存储器,所述存储器中存储有指令,所述处理器用于执行所述存储器上存储的指令,当所述指令被执行时,所述处理器用于执行第一方面的任意一种实现方式中的方法。Optionally, as an implementation manner, the chip may further include a memory, in which instructions are stored, the processor is configured to execute the instructions stored in the memory, and when the instructions are executed, the The processor is configured to execute the method in any one of the implementation manners of the first aspect.
第四方面,提供一种计算机可读介质,该计算机可读介质存储用于设备执行的程序代码,该程序代码包括用于执行第一方面的任意一种实现方式中的方法。In a fourth aspect, a computer-readable medium is provided, where the computer-readable medium stores program code for execution by a device, the program code comprising a method for performing any one of the implementations of the first aspect.
第五方面,提供一种包含指令的计算机程序产品,当该计算机程序产品在计算机上运行时,使得计算机执行上述第一方面的任意一种实现方式中的方法。In a fifth aspect, there is provided a computer program product containing instructions, when the computer program product is run on a computer, the computer program product causes the computer to execute the method in any one of the implementation manners of the above-mentioned first aspect.
第六方面,本申请提供一种终端,该终端包括第二方面的任意一种实现方式的装置。需要说明的是,上述第二方面涉及的装置用于控制车辆,但是本领域技术人员可知,在其 他可能的场景下,该终端还可以为无人机或者机器人等可能的设备,即上述提到的“车辆”可以替换为“终端”,相应的,上述提到的道路结构以及道内和道外等信息,也可以替换为无人机或者机器人等终端所在的航线通道或者环境结构,以及基于上述航线通道或者环境结构所获取的道内和道外信息。具体的术语的功能和解释可以参考实际终端的类型和环境获取。本申请是以车辆为例进行阐述,但是该方案可以扩展到其他可能的终端类型。In a sixth aspect, the present application provides a terminal, where the terminal includes the apparatus of any one of the implementation manners of the second aspect. It should be noted that the device involved in the second aspect above is used to control the vehicle, but those skilled in the art know that in other possible scenarios, the terminal may also be a possible device such as a drone or a robot, that is, the above mentioned The "vehicle" of the vehicle can be replaced with "terminal". Correspondingly, the above-mentioned road structure and information such as inside and outside the road can also be replaced with the route channel or environmental structure where the terminal such as drone or robot is located, and the route based on the above-mentioned route. Intra-channel and out-of-channel information captured by a channel or environmental structure. The functions and explanations of specific terms can be obtained by referring to the type and environment of the actual terminal. This application is described with a vehicle as an example, but the solution can be extended to other possible terminal types.
可选地,该终端还可以是对车辆进行远程控制的终端。也就是说,上述控制装置既可以是安装在被控制的车辆上的,又可以是独立于被控车辆的,例如可以是利用无人机、其他车辆、机器人等来控制该被控车辆,在一些场景中,上述被控车辆同样还可以为无人机、机器人等其他设备。Optionally, the terminal may also be a terminal for remotely controlling the vehicle. That is to say, the above-mentioned control device may be installed on the controlled vehicle, or may be independent of the controlled vehicle. For example, the controlled vehicle may be controlled by a drone, other In some scenarios, the above-mentioned controlled vehicles can also be other devices such as drones and robots.
图1是本申请实施例适用的一种车辆的功能框图。FIG. 1 is a functional block diagram of a vehicle to which the embodiments of the present application are applied.
图2是本申请实施例控制方法的示意性流程图。FIG. 2 is a schematic flowchart of a control method according to an embodiment of the present application.
图3是本申请实施例的车辆道内横向避障的示意图。FIG. 3 is a schematic diagram of lateral obstacle avoidance in a vehicle lane according to an embodiment of the present application.
图4是本申请实施例的道内横向避障的场景示意图。FIG. 4 is a schematic diagram of a scene of lateral obstacle avoidance in a track according to an embodiment of the present application.
图5是本申请实施例的道内横向避障的场景示意图。FIG. 5 is a schematic diagram of a scene of lateral obstacle avoidance in a track according to an embodiment of the present application.
图6是本申请实施例的道内横向避障的执行过程示意图。FIG. 6 is a schematic diagram of an execution process of in-track lateral obstacle avoidance according to an embodiment of the present application.
图7是本申请实施例的控制装置的示意图。FIG. 7 is a schematic diagram of a control device according to an embodiment of the present application.
图8是本申请实施例的控制装置的示意图。FIG. 8 is a schematic diagram of a control device according to an embodiment of the present application.
图9是本申请实施例的障碍物为其他车辆的示意图。FIG. 9 is a schematic diagram of an obstacle according to an embodiment of the present application being another vehicle.
本申请实施例所提供的车辆的控制方法和/或控制装置可以应用于各类车辆。这些方法和/或装置既可以应用于人工驾驶,又可以应用于辅助驾驶,还可以应用于自动驾驶。下面结合附图,对本申请实施例的技术方案进行介绍。The vehicle control method and/or control device provided by the embodiments of the present application can be applied to various types of vehicles. These methods and/or devices can be applied to both manual driving, assisted driving, and automatic driving. The technical solutions of the embodiments of the present application will be introduced below with reference to the accompanying drawings.
图1是本申请实施例适用的一种车辆的功能框图。其中,车辆100可以是人工驾驶车辆,或者可以将车辆100配置可以为完全或部分地自动驾驶模式。FIG. 1 is a functional block diagram of a vehicle to which the embodiments of the present application are applied. Therein, the vehicle 100 may be a human-driven vehicle, or the vehicle 100 may be configured in a fully or partially autonomous driving mode.
在一个示例中,车辆100可以在处于自动驾驶模式中的同时控制自车,并且可通过人为操作来确定车辆及其周边环境的当前状态,确定周边环境中的至少一个其他车辆的可能行为,并确定其他车辆执行可能行为的可能性相对应的置信水平,基于所确定的信息来控制车辆100。在车辆100处于自动驾驶模式中时,可以将车辆100置为在没有和人交互的情况下操作。In one example, the vehicle 100 may control the ego vehicle while in an autonomous driving mode, and may determine the current state of the vehicle and its surrounding environment through human manipulation, determine the possible behavior of at least one other vehicle in the surrounding environment, and A confidence level corresponding to the likelihood that other vehicles will perform the possible behavior is determined, and the vehicle 100 is controlled based on the determined information. When the vehicle 100 is in an autonomous driving mode, the vehicle 100 may be placed to operate without human interaction.
车辆100中可以包括各种子***,例如,行进***110、传感***120、控制***130、一个或多个***设备140以及电源160、计算机***150和用户接口170。Various subsystems may be included in vehicle 100 , such as travel system 110 , sensing system 120 , control system 130 , one or more peripherals 140 and power supply 160 , computer system 150 , and user interface 170 .
可选地,车辆100可以包括更多或更少的子***,并且每个子***可包括多个元件。另外,车辆100的每个子***和元件可以通过有线或者无线互连。Alternatively, the vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple elements. Additionally, each of the subsystems and elements of the vehicle 100 may be interconnected by wire or wirelessly.
示例性地,行进***110可以包括用于向车辆100提供动力运动的组件。在本申请实施例中,行进***可以用于在避障过程中,驱动车辆执行相应的运动行为,例如前进、后退、转向等等。For example, the travel system 110 may include components for providing powered motion to the vehicle 100 . In this embodiment of the present application, the traveling system may be used to drive the vehicle to perform corresponding motion behaviors, such as forward, backward, and steering, during the obstacle avoidance process.
示例性地,传感***120可以包括感测关于车辆100周边的环境的信息的若干个传感器。在本申请实施例中,传感***可以用于获取环境信息和道路结构信息,从而基于这些获取的信息,执行后续的控制。Illustratively, the sensing system 120 may include several sensors that sense information about the environment surrounding the vehicle 100 . In this embodiment of the present application, the sensing system may be used to acquire environmental information and road structure information, so as to perform subsequent control based on the acquired information.
例如,传感***120可以包括定位***121(例如,全球定位***(global positioning system,GPS)、北斗***或者其他定位***)、惯性测量单元(inertial measurement unit,IMU)122、雷达123、激光测距仪124、相机125以及车速传感器126。传感***120还可以包括被监视车辆100的内部***的传感器(例如,车内空气质量监测器、燃油量表、机油温度表等)。来自这些传感器中的一个或多个的传感器数据可用于检测对象及其相应特性(位置、形状、方向、速度等)。这种检测和识别是自主车辆100的安全操作的关键功能。For example, the sensing system 120 may include a positioning system 121 (eg, a global positioning system (GPS), BeiDou system, or other positioning system), an inertial measurement unit (IMU) 122, a radar 123, a laser Distance meter 124 , camera 125 and vehicle speed sensor 126 . The sensing system 120 may also include sensors that monitor the internal systems of the vehicle 100 (eg, an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, velocity, etc.). This detection and identification is a critical function for the safe operation of the autonomous vehicle 100 .
其中,定位***121可以用于估计车辆100的地理位置。IMU 122可以用于基于惯性加速度来感测车辆100的位置和朝向变化。在一个实施例中,IMU 122可以是加速度计和陀螺仪的组合。Among others, the positioning system 121 may be used to estimate the geographic location of the vehicle 100 . The IMU 122 may be used to sense position and orientation changes of the vehicle 100 based on inertial acceleration. In one embodiment, IMU 122 may be a combination of an accelerometer and a gyroscope.
示例性地,雷达123可以利用无线电信号来感测车辆100的周边环境内的物体。在一些实施例中,除了感测物体以外,雷达123还可用于感测物体的速度和/或前进方向。Illustratively, the radar 123 may utilize radio signals to sense objects within the surrounding environment of the vehicle 100 . In some embodiments, in addition to sensing objects, radar 123 may be used to sense the speed and/or heading of objects.
示例性地,激光测距仪124可以利用激光来感测车辆100所位于的环境中的物体。在一些实施例中,激光测距仪124可以包括一个或多个激光源、激光扫描器以及一个或多个检测器,以及其他***组件。For example, the laser rangefinder 124 may utilize laser light to sense objects in the environment in which the vehicle 100 is located. In some embodiments, the laser rangefinder 124 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.
示例性地,相机125可以用于捕捉车辆100的周边环境的多个图像。例如,相机125可以是静态相机或视频相机。Illustratively, camera 125 may be used to capture multiple images of the surrounding environment of vehicle 100 . For example, camera 125 may be a still camera or a video camera.
示例性地,车速传感器126可以用于测量车辆100的速度。例如,可以对车辆进行实时测速。测得的车速可以传送给控制***130以实现对车辆的控制。Illustratively, the vehicle speed sensor 126 may be used to measure the speed of the vehicle 100 . For example, real-time speed measurement of the vehicle can be performed. The measured vehicle speed may be communicated to the control system 130 to effect control of the vehicle.
如图1所示,控制***130为控制车辆100及其组件的操作。控制***130可以包括各种元件,比如可以包括转向***131、油门132、制动单元133、计算机视觉***134、路线控制***135以及障碍规避***136。本申请实施例所述控制方法可以利用控制***130执行,具体而言,可以利用障碍规避***136来执行,也就是说,障碍规避***136可具有本申请实施例的控制装置的功能。As shown in FIG. 1 , the control system 130 controls the operation of the vehicle 100 and its components. Control system 130 may include various elements, such as may include steering system 131 , throttle 132 , braking unit 133 , computer vision system 134 , route control system 135 , and obstacle avoidance system 136 . The control methods described in the embodiments of the present application may be implemented by the control system 130, specifically, the obstacle avoidance system 136 may be implemented, that is, the obstacle avoidance system 136 may have the function of the control device of the embodiments of the present application.
示例性地,转向***131可以操作来调整车辆100的前进方向。例如,在一个实施例中可以为方向盘***。油门132可以用于控制引擎111的操作速度并进而控制车辆100的速度。For example, the steering system 131 may operate to adjust the heading of the vehicle 100 . For example, in one embodiment it may be a steering wheel system. The throttle 132 may be used to control the operating speed of the engine 111 and thus the speed of the vehicle 100 .
示例性地,制动单元133可以用于控制车辆100减速;制动单元133可以使用摩擦力来减慢车轮114。在其他实施例中,制动单元133可以将车轮114的动能转换为电流。制动单元133也可以采取其他形式来减慢车轮114转速从而控制车辆100的速度。Illustratively, the braking unit 133 may be used to control the deceleration of the vehicle 100 ; the braking unit 133 may use friction to slow the wheels 114 . In other embodiments, the braking unit 133 may convert the kinetic energy of the wheels 114 into electrical current. The braking unit 133 may also take other forms to slow the wheels 114 to control the speed of the vehicle 100 .
如图1所示,计算机视觉***134可以操作来处理和分析由相机125捕捉的图像以便识别车辆100周边环境中的物体和/或特征。上述物体和/或特征可以包括交通信号、道路边界和障碍物。计算机视觉***134可以使用物体识别算法、运动中恢复结构(structure from motion,SFM)算法、视频跟踪和其他计算机视觉技术。在一些实施例中,计算机视觉***134可以用于为环境绘制地图、跟踪物体、估计物体的速度等等。As shown in FIG. 1 , computer vision system 134 is operable to process and analyze images captured by camera 125 in order to identify objects and/or features in the environment surrounding vehicle 100 . Such objects and/or features may include traffic signals, road boundaries and obstacles. Computer vision system 134 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 134 may be used to map the environment, track objects, estimate the speed of objects, and the like.
示例性地,路线控制***135可以用于确定车辆100的行驶路线。如图1所示,障碍 规避***136可以用于识别、评估和避免或者以其他方式越过车辆100的环境中的潜在障碍物。Illustratively, the route control system 135 may be used to determine the route of travel of the vehicle 100 . As shown in FIG. 1 , the obstacle avoidance system 136 may be used to identify, evaluate and avoid or otherwise traverse potential obstacles in the environment of the vehicle 100 .
在一个实例中,控制***130可以增加或替换地包括除了所示出和描述的那些以外的组件。或者也可以减少一部分上述示出的组件。In one example, control system 130 may additionally or alternatively include components in addition to those shown and described. Alternatively, some of the components shown above may be reduced.
如图1所示,车辆100可以通过***设备140与外部传感器、其他车辆、其他计算机***或用户之间进行交互;其中,***设备140可包括无线通信***141、车载电脑142、麦克风143和/或扬声器144。As shown in FIG. 1, the vehicle 100 may interact with external sensors, other vehicles, other computer systems or users through peripheral devices 140; wherein the peripheral devices 140 may include a wireless communication system 141, an on-board computer 142, a microphone 143 and/or a or speaker 144.
在一些实施例中,***设备140可以提供车辆100与用户接口170交互的手段。如图1所述,无线通信***141可以直接地或者经由通信网络来与一个或多个设备无线通信。In some embodiments, peripherals 140 may provide a means for vehicle 100 to interact with user interface 170 . As depicted in FIG. 1, wireless communication system 141 may wirelessly communicate with one or more devices, either directly or via a communication network.
如图1所示,电源160可以向车辆100的各种组件提供电力。在一个实施例中,电源160可以为可再充电锂离子电池或铅酸电池。这种电池的一个或多个电池组可被配置为电源为车辆100的各种组件提供电力。在一些实施例中,电源160和能量源113可一起实现,例如一些全电动车中那样。As shown in FIG. 1 , power supply 160 may provide power to various components of vehicle 100 . In one embodiment, the power source 160 may be a rechargeable lithium-ion battery or a lead-acid battery. One or more battery packs of such a battery may be configured as a power source to provide power to various components of the vehicle 100 . In some embodiments, power source 160 and energy source 113 may be implemented together, such as in some all-electric vehicles.
示例性地,车辆100的部分或所有功能可以受计算机***150控制,其中,计算机***150可以包括至少一个处理器151,处理器151执行存储在例如存储器152中的非暂态计算机可读介质中的指令153。计算机***150还可以是采用分布式方式控制车辆100的个体组件或子***的多个计算设备。Illustratively, some or all of the functions of the vehicle 100 may be controlled by a computer system 150 , wherein the computer system 150 may include at least one processor 151 that executes execution in a non-transitory computer-readable medium stored in, for example, memory 152 . Instruction 153. Computer system 150 may also be multiple computing devices that control individual components or subsystems of vehicle 100 in a distributed fashion.
例如,处理器151可以是任何常规的处理器,诸如商业可获得的中央处理器(central processing unit,CPU)。For example, processor 151 may be any conventional processor, such as a commercially available central processing unit (CPU).
可选地,该处理器可以是诸如专用集成电路(application specific integrated circuit,ASIC)或其它基于硬件的处理器的专用设备。尽管图1功能性地图示了处理器、存储器、和在相同块中的计算机的其它元件,但是本领域的普通技术人员应该理解该处理器、计算机、或存储器实际上可以包括可以或者可以不存储在相同的物理外壳内的多个处理器、计算机或存储器。例如,存储器可以是硬盘驱动器或位于不同于计算机的外壳内的其它存储介质。因此,对处理器或计算机的引用将被理解为包括对可以或者可以不并行操作的处理器或计算机或存储器的集合的引用。不同于使用单一的处理器来执行此处所描述的步骤,诸如转向组件和减速组件的一些组件每个都可以具有其自己的处理器,所述处理器只执行与特定于组件的功能相关的计算。Alternatively, the processor may be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Although FIG. 1 functionally illustrates a processor, memory, and other elements of the computer in the same block, one of ordinary skill in the art will understand that the processor, computer, or memory may actually include storage that may or may not be Multiple processors, computers or memories within the same physical enclosure. For example, the memory may be a hard drive or other storage medium located within an enclosure other than a computer. Thus, reference to a processor or computer will be understood to include reference to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components such as the steering and deceleration components may each have their own processor that only performs computations related to component-specific functions .
在此处所描述的各个方面中,处理器可以位于远离该车辆并且与该车辆进行无线通信。在其它方面中,此处所描述的过程中的一些在布置于车辆内的处理器上执行而其它则由远程处理器执行,包括采取执行单一操纵的必要步骤。In various aspects described herein, a processor may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle while others are performed by a remote processor, including taking steps necessary to perform a single maneuver.
在一些实施例中,存储器152可包含指令153(例如,程序逻辑),指令153可以被处理器151来执行车辆100的各种功能,包括以上描述的那些功能。存储器152也可包括额外的指令,比如包括向行进***110、传感***120、控制***130和***设备140中的一个或多个发送数据、从其接收数据、与其交互和/或对其进行控制的指令。In some embodiments, memory 152 may contain instructions 153 (eg, program logic) that may be used by processor 151 to perform various functions of vehicle 100 , including those described above. Memory 152 may also include additional instructions, such as including sending data to, receiving data from, interacting with, and/or performing data processing on one or more of travel system 110 , sensing system 120 , control system 130 , and peripherals 140 control commands.
示例性地,除了指令153以外,存储器152还可存储数据,例如,道路地图、路线信息,车辆的位置、方向、速度以及其它这样的车辆数据,以及其他信息。这种信息可在车辆100在自主、半自主和/或手动模式中操作期间被车辆100和计算机***150使用。Illustratively, in addition to instructions 153, memory 152 may store data such as road maps, route information, vehicle location, direction, speed, and other such vehicle data, among other information. Such information may be used by the vehicle 100 and the computer system 150 during operation of the vehicle 100 in autonomous, semi-autonomous and/or manual modes.
如图1所示,用户接口170可以用于向车辆100的用户提供信息或从其接收信息。可 选地,用户接口170可以包括在***设备140的集合内的一个或多个输入/输出设备,例如,无线通信***141、车载电脑142、麦克风143和扬声器144。As shown in FIG. 1 , user interface 170 may be used to provide information to or receive information from a user of vehicle 100 . Optionally, user interface 170 may include one or more input/output devices within the set of peripheral devices 140, such as wireless communication system 141, vehicle computer 142, microphone 143, and speaker 144.
在本申请的实施例中,计算机***150可以基于从各种子***(例如,行进***110、传感***120和控制***130)以及从用户接口170接收的输入来控制车辆100的功能。例如,计算机***150可以利用来自控制***130的输入以便控制制动单元133来避免由传感***120和障碍规避***136检测到的障碍物。在一些实施例中,计算机***150可操作来对车辆100及其子***的许多方面提供控制。In embodiments of the present application, computer system 150 may control functions of vehicle 100 based on input received from various subsystems (eg, travel system 110 , sensing system 120 , and control system 130 ) and from user interface 170 . For example, computer system 150 may utilize input from control system 130 to control braking unit 133 to avoid obstacles detected by sensing system 120 and obstacle avoidance system 136 . In some embodiments, computer system 150 is operable to provide control of various aspects of vehicle 100 and its subsystems.
可选地,上述这些组件中的一个或多个可与车辆100分开安装或关联。例如,存储器152可以部分或完全地与车辆100分开存在。上述组件可以按有线和/或无线方式来通信地耦合在一起。Alternatively, one or more of these components described above may be installed or associated with the vehicle 100 separately. For example, memory 152 may exist partially or completely separate from vehicle 100 . The above-described components may be communicatively coupled together in a wired and/or wireless manner.
可选地,上述组件只是一个示例,实际应用中,上述各个模块中的组件有可能根据实际需要增添或者删除,图1不应理解为对本申请实施例的限制。Optionally, the above component is just an example. In practical applications, components in each of the above modules may be added or deleted according to actual needs, and FIG. 1 should not be construed as a limitation on the embodiments of the present application.
上述车辆100可以为传统汽车、新能源车、智能汽车等,所谓传统汽车是指利用汽车、柴油等提供能源的汽车,新能源车则指最新出现的利用电能、燃气等新能源提供能源的车辆,智能汽车则是指装载有智能控制单元等智能设备的车,上述车辆100的车辆类型例如可以包括轿车、卡车、客车、工程车、公交车等,本申请实施例不做特别的限定。在本申请实施例中,主要以道路上行驶的各类汽车为例进行介绍。The above-mentioned vehicle 100 may be a traditional vehicle, a new energy vehicle, a smart vehicle, etc. The so-called traditional vehicle refers to a vehicle that uses automobiles, diesel, etc. to provide energy, and a new energy vehicle refers to a newly emerged vehicle that uses new energy such as electric energy, gas, etc. to provide energy. , and a smart car refers to a car loaded with smart devices such as an intelligent control unit. The vehicle type of the above-mentioned vehicle 100 may include, for example, a car, a truck, a passenger car, an engineering vehicle, a bus, etc., which is not particularly limited in the embodiments of the present application. In the embodiments of the present application, various types of automobiles driving on the road are mainly used as examples for introduction.
目前的横向控制方法,只考虑障碍物的尺寸和车辆与障碍物之间的距离,通过控制障碍物和车辆之间的距离来确定横向移动,从而绕过障碍物,但当障碍物为其他汽车等尺寸很大的障碍物时,通常需要部分或全部地变道,即需要占用临近的车道,而众所周知变道会带来很大的安全危险,尤其是在司机的视野盲区的车辆或行人等,都容易导致避障过程中产生碰撞。此外,由于人的视觉误差,可能会对障碍物的尺寸判断存在误差,导致不能较好地把握车辆与障碍物之间的距离,导致横向移动距离不足,没有绕过障碍物;或者横向移动距离过大,撞到其他事物。The current lateral control method only considers the size of the obstacle and the distance between the vehicle and the obstacle, and determines the lateral movement by controlling the distance between the obstacle and the vehicle, thereby bypassing the obstacle, but when the obstacle is other cars When there are obstacles of large size, it is usually necessary to change lanes partially or completely, that is, to occupy the adjacent lanes. It is well known that changing lanes will bring great safety hazards, especially vehicles or pedestrians in the blind spot of the driver's field of vision. , are likely to cause collisions during obstacle avoidance. In addition, due to human visual errors, there may be errors in judging the size of obstacles, resulting in the inability to better grasp the distance between the vehicle and the obstacle, resulting in insufficient lateral movement distance and not bypassing the obstacle; or lateral movement distance Too big and bump into other things.
针对上述问题,本申请实施例提供一种新的控制方法和控制装置,可以根据障碍物的信息和道路结构信息来进行道内横向避障或者道外横向避障,这样能够有效提高横向避障过程中的安全性,这是因为在不变道的情况下行驶相对安全,所以道内避障(即不变道避障)的避障过程不会带来其他的安全隐患。因此相比于现有技术中,不考虑是否变道的情况相比,本申请的方案具有更高的安全性。进一步地,还可以在道内横向避障时进行一些优化,使得道内横向避障能够有效执行。下面会结合各图进行详细介绍。In view of the above problems, the embodiments of the present application provide a new control method and control device, which can perform lateral obstacle avoidance inside the road or lateral obstacle avoidance outside the road according to information on obstacles and road structure information, which can effectively improve the process of lateral obstacle avoidance. This is because it is relatively safe to drive without changing the lane, so the obstacle avoidance process in the lane (that is, the obstacle avoidance in the same lane) will not bring other safety hazards. Therefore, compared with the prior art, the solution of the present application has higher safety compared with the situation in which the lane change is not considered. Further, some optimizations can also be made during lateral obstacle avoidance in the lane, so that the lateral obstacle avoidance in the lane can be effectively executed. Each figure will be described in detail below.
图2是本申请实施例的控制方法的示意性流程图。下面对图5各个步骤进行介绍。FIG. 2 is a schematic flowchart of a control method according to an embodiment of the present application. Each step in FIG. 5 is described below.
201、获取车辆的环境信息,环境信息包括障碍物的信息和道路结构信息。201. Acquire environmental information of the vehicle, where the environmental information includes obstacle information and road structure information.
具体的,可以从车辆的其他可以采集环境信息的装置获取环境信息,或者,是从存储装置中读取环境信息,还可以是通过通信接口从车联网中获取环境信息。一种可选的设计中,还可以通过多种上述方式的组合获取所述环境信息。Specifically, the environmental information can be obtained from other devices of the vehicle that can collect environmental information, or the environmental information can be read from a storage device, or the environmental information can be obtained from the Internet of Vehicles through a communication interface. In an optional design, the environmental information may also be obtained through a combination of the foregoing manners.
例如,可以是利用图1所示传感***120中的设备采集环境信息;又例如可以是从图1中的存储器152中读取环境信息;又例如还可以是利用图1中的无线通信***141从车联网(vehicle-to-everything,V2X)获取环境信息。再例如,可以通过上述几种方式的组合获取环境信息。For example, the device in the sensing system 120 shown in FIG. 1 may be used to collect environmental information; another example may be to read the environmental information from the memory 152 shown in FIG. 1 ; another example may be the wireless communication system shown in FIG. 1 . 141 Obtain environmental information from vehicle-to-everything (V2X). For another example, the environmental information can be obtained through a combination of the above-mentioned methods.
需要说明的是,车联网主要包括车辆与车辆相连接(vehicle-to-vehicle,V2V)、车辆与基础设施相连接(vehicle-to-infrastructure,V2I)、车辆与互联网相连接(vehicle-to-network,V2N),以及车辆与行人相连接(vehicle-to-pedestrian,V2P)等各类车网络。It should be noted that the Internet of Vehicles mainly includes vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-Internet (vehicle-to- network, V2N), and various vehicle networks such as vehicle-to-pedestrian (V2P).
具体的,其他可以采集环境信息的装置可以是以下至少一种:摄像头、相机或雷达,上述设备也可以统称为感知设备,或者可以相当于利用图4所示环境检测装置412。Specifically, other devices that can collect environmental information may be at least one of the following: a camera, a camera, or a radar. The above devices may also be collectively referred to as sensing devices, or may be equivalent to using the environment detection device 412 shown in FIG. 4 .
上述主要介绍了可以通过哪些方式获取环境信息以及可以通过哪些设备获取,下面对于环境信息进行解释。The above mainly introduces the ways in which environmental information can be obtained and which devices can be obtained. The environmental information is explained below.
该环境信息可以理解为是车辆的外界信息,或者可以理解为车辆所处环境的信息。该环境信息可以包括道路结构信息和障碍物的信息,该道路结构信息可以包括道路的车道数量、路沿情况、绿化带情况、车道的边界信息等中的至少一个,道路结构信息可以作为避障方式的选择依据之一。障碍物的信息可以包括障碍物的尺寸和位置,障碍物的信息也可以作为避障方式的选择依据之一。例如可以通过障碍物的尺寸和位置信息判断避开障碍物需要的偏移量、时间长度、距离等,就可以决定选择哪种避障方式,例如当障碍物较小且与障碍物的横向距离也较小的时候,就可以以很小的横向偏移来绕过障碍物,此时可以优先选择道内横向避障。The environmental information may be understood as external information of the vehicle, or may be understood as information of the environment where the vehicle is located. The environmental information may include road structure information and obstacle information, the road structure information may include at least one of the number of lanes of the road, road edge conditions, green belt conditions, lane boundary information, etc. The road structure information may be used as obstacle avoidance One of the basis for the selection of the method. The information of the obstacle can include the size and position of the obstacle, and the information of the obstacle can also be used as one of the selection basis of the obstacle avoidance method. For example, the size and position information of the obstacle can be used to determine the offset, time length, distance, etc. required to avoid the obstacle, so as to decide which obstacle avoidance method to choose. For example, when the obstacle is small and the lateral distance from the obstacle is small When it is small, the obstacle can be bypassed with a small lateral offset. At this time, the lateral obstacle avoidance in the lane can be preferred.
需要说明的是,障碍物的位置信息可以是障碍物在道路上的相对位置,也可以是相对于车辆的位置。It should be noted that the position information of the obstacle may be the relative position of the obstacle on the road, or the position relative to the vehicle.
障碍物信息还可以包括运动状态信息等,运动速度同样可以是障碍物相对于道路的运动状态,也可以是障碍物相对于车辆的运动状态。在一般情况下,障碍物信息所包括的种类越多,相当于避障方式的选择依据越充分,能够提高选择的准确性,从而提高避障性能。The obstacle information may also include motion state information, etc. The motion speed may also be the motion state of the obstacle relative to the road, or the motion state of the obstacle relative to the vehicle. In general, the more types of obstacle information included, the more sufficient the basis for selecting the obstacle avoidance method, which can improve the accuracy of the selection, thereby improving the obstacle avoidance performance.
可选地,障碍物的信息还可以包括障碍物的类型的信息,障碍物的类型例如可以是车辆、行人、自行车、电动车或者其他可能的障碍物等。需要说明的是,障碍物的类型可以作为避障控制依据,即可以根据障碍物类型的不同来进行不同的控制,或者,可以理解为给不同的障碍物类型对应不同的安全等级。例如,人身安全的重要性肯定是高于财产安全的,所以虽然行人的尺寸不算太大,但由于行人运动行为具有很高的不确定性,且很容易受到伤害,所以可以在障碍物的类型为行人的时候,在控制车辆避开行人时,控制车辆与行人之间的横向距离尽可能远一些,例如假设一般障碍物只需要与障碍物保持A米的横向距离,而行人则需要与障碍物保持B米的横向距离,B为大于A的正实数。Optionally, the information of the obstacle may also include information of the type of the obstacle, and the type of the obstacle may be, for example, a vehicle, a pedestrian, a bicycle, an electric vehicle, or other possible obstacles. It should be noted that the types of obstacles can be used as the basis for obstacle avoidance control, that is, different control can be performed according to different types of obstacles, or it can be understood that different types of obstacles correspond to different safety levels. For example, the importance of personal safety is definitely higher than that of property safety, so although the size of pedestrians is not too large, due to the high uncertainty of pedestrian movement behavior and easy injury, it can be used in obstacles. When the type is pedestrian, when controlling the vehicle to avoid the pedestrian, control the lateral distance between the vehicle and the pedestrian as far as possible. Obstacles maintain a lateral distance of B meters, where B is a positive real number greater than A.
202、根据上述环境信息进行避障控制。202. Perform obstacle avoidance control according to the foregoing environmental information.
具体的,避障控制可以包括道内横向避障、道外横向避障、纵向避障中的一个或多个。Specifically, the obstacle avoidance control may include one or more of on-track lateral obstacle avoidance, off-track lateral obstacle avoidance, and vertical obstacle avoidance.
在一种实现方式中,可以根据环境信息,控制车辆执行道内横向避障或道外横向避障。相比于传统的不考虑道内还是道外的横向避障方法,具有更高的安全性。在现有技术中存在横向避障和纵向避障,但没有进一步考虑横向避障过程中的安全性问题,对于横向避障也并没有进一步区分道内或道外。而在本申请实施例中,主要是根据环境信息来进行避障控制,而道内横向避障的可靠性和安全性更高,因此,本申请实施例的控制方法相比于现有技术,具有更好的避障性能,尤其采用道内横向避障的时候,避障迅速、不影响继续前行且相对安全。现有技术中,只考虑了根据障碍物的尺寸、距离等来执行横向避障,所以不会限制车辆尽量在不变道的情况下避障。因为在现有技术中只考虑的是横向避开前方车 辆或其他障碍物,是通过控制障碍物与车辆的横向距离来执行避障的,所以不会进一步考虑需不需要变道。但是在实际场景中,也会存在一些较小的障碍物,例如石块、小动物、行人等,实际上是可以在不变道的情况下绕过障碍物的,在不变道就可以成功避障的情况下,道内避障相对于道外避障更安全。因此,本申请实施例主要针对这类可以不变道就可以绕过的障碍物的情况,来执行道内横向避障,从而达到安全有效的避障性能。可以理解为,本申请实施例相对于现有技术,增加了对于横向避障的划分,将横向避障划分为了道内横向避障和道外横向避障,安全性更高。In an implementation manner, the vehicle may be controlled to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane according to the environmental information. Compared with the traditional lateral obstacle avoidance method that does not consider the inside or outside of the road, it has higher safety. In the prior art, there are lateral obstacle avoidance and vertical obstacle avoidance, but the safety problem in the process of lateral obstacle avoidance is not further considered, and there is no further distinction between on-track and off-track for lateral obstacle avoidance. In the embodiment of the present application, the obstacle avoidance control is mainly performed according to the environmental information, and the reliability and safety of the lateral obstacle avoidance in the track are higher. Therefore, compared with the prior art, the control method of the embodiment of the present application has the advantages of Better obstacle avoidance performance, especially when using in-track lateral obstacle avoidance, the obstacle avoidance is fast, does not affect continuing to move forward, and is relatively safe. In the prior art, only lateral obstacle avoidance is considered according to the size, distance, etc. of the obstacle, so the vehicle is not restricted to avoid obstacles as much as possible without changing the lane. In the prior art, only laterally avoiding the vehicle ahead or other obstacles is considered, and obstacle avoidance is performed by controlling the lateral distance between the obstacle and the vehicle, so the need to change lanes is not further considered. However, in the actual scene, there will also be some smaller obstacles, such as stones, small animals, pedestrians, etc. In fact, it is possible to bypass the obstacles without changing the path, and it can be successful without changing the path. In the case of obstacle avoidance, obstacle avoidance inside the track is safer than obstacle avoidance outside the track. Therefore, the embodiments of the present application mainly perform lateral obstacle avoidance within the track in the case of such obstacles that can be bypassed without changing the track, so as to achieve safe and effective obstacle avoidance performance. It can be understood that, compared with the prior art, the embodiment of the present application increases the division of lateral obstacle avoidance, and divides the lateral obstacle avoidance into lateral obstacle avoidance inside the track and lateral obstacle avoidance outside the track, which is safer.
还需要说明的是,在现有技术中之所以没有考虑横向避障的道内和道外问题,是因为一方面现有技术中没有考虑到道内横向避障更为安全和有效,另一方面实际情况中保证道内横向避障比较困难。例如,驾驶员在打转向的时候,经常会出现反应过度或反应迟缓的情况,当反应过度时很容易超过当前车道,当反应迟缓时又容易导致横向偏移不足以避开障碍物,也就是说是很难既保证不变道又能够避开障碍物的。It should also be noted that the reason why the on-track and off-track issues of lateral obstacle avoidance are not considered in the prior art is that on the one hand, the prior art does not consider that lateral obstacle avoidance within the track is safer and more effective, and on the other hand, the actual situation It is more difficult to avoid lateral obstacles in the middle of the road. For example, when the driver is turning, he often has an overreaction or a slow reaction. When the reaction is excessive, it is easy to overtake the current lane, and when the reaction is slow, it is easy to cause the lateral deviation to be insufficient to avoid obstacles, that is, It is difficult to keep the lane and avoid obstacles.
还应理解,对于车道的宽度是有国家标准的,一般车道宽度为3.5米至3.7米,而城市道路的车道宽度为3.5米,交叉路口分流车道的每个车道宽度为2.3米至2.5米,干线公路(高速公路)每个车道的宽度为3.75米。一般的私家车的车辆宽度通常在1.5米至2米之间,即使货车宽度也多为2.2米至2.6米,由此可见,车辆在车道内行驶是有一定的空间余量的,该空间余量能够支持车辆对于一些较小的障碍物进行道内横向避障。为了便于理解,下面结合图3-图5进行解释。It should also be understood that there are national standards for the width of the lane. Generally, the width of the lane is 3.5 meters to 3.7 meters, while the width of the urban road is 3.5 meters, and the width of each lane of the intersection diversion lane is 2.3 meters to 2.5 meters. The width of each lane of arterial roads (highways) is 3.75 meters. The vehicle width of a general private car is usually between 1.5 meters and 2 meters. Even the width of a truck is usually between 2.2 meters and 2.6 meters. It can be seen that there is a certain space margin for vehicles driving in the lane. The amount can support the vehicle to avoid lateral obstacles in the lane for some smaller obstacles. For ease of understanding, explanations are given below with reference to FIGS. 3 to 5 .
图3是本申请实施例的车辆道内横向避障的示意图。如图3所示,平行的两条粗长虚线之间为车辆所在的车道边界,车辆当前位置为A,B为障碍物位置,图3以障碍物为较大的不规则石块为例,也就是说,B处所示灰色不规则多边形表示较大的石块。C、D、E分别表示向前行驶一段时间之后的车辆位置,带箭头的弧线表示三个行驶方向的示例,其中AD表示接近于直线行驶,也就是说,几乎不进行横向偏移,或者横向偏移很小。AC表示横向偏移但没有超出本车道,AE表示横向偏移且会超出本车道。从图中可以看出,如果按照AD轨迹行驶,车辆会保持在车道内(即不变道),但是会与障碍物(石块B)发生碰撞;如果按照AC轨迹行驶,车辆会保持在车道内(即不变道),且不会与障碍物(石块B)发生碰撞,即可以避开障碍物;如果按照AE轨迹行驶,车辆会超过本车道的边界,但是不会与障碍物(石块B)发生碰撞,即可以避开障碍物。本申请实施例所述道内横向避障所希望达到的就是按照AC轨迹行驶的效果,也就是说既能够避开障碍物又不超出本车道边界。FIG. 3 is a schematic diagram of lateral obstacle avoidance in a vehicle lane according to an embodiment of the present application. As shown in Figure 3, between the two parallel thick and long dashed lines is the lane boundary where the vehicle is located, the current position of the vehicle is A, and B is the position of the obstacle. Figure 3 takes the obstacle as a large irregular stone as an example. That is, the gray irregular polygons shown at B represent larger stones. C, D, E respectively represent the position of the vehicle after driving forward for a period of time, the arcs with arrows represent examples of the three driving directions, where AD represents driving close to a straight line, that is, with little lateral offset, or The lateral offset is small. AC means offset laterally but does not exceed own lane, AE means lateral offset and will exceed own lane. As can be seen from the figure, if driving according to the AD trajectory, the vehicle will remain in the lane (that is, not changing the lane), but will collide with the obstacle (stone B); if driving according to the AC trajectory, the vehicle will remain in the lane If the vehicle is within the lane (that is, it does not change the lane), and will not collide with the obstacle (stone B), the obstacle can be avoided; if the vehicle follows the AE trajectory, the vehicle will exceed the boundary of the lane, but will not collide with the obstacle ( When the stone B) collides, the obstacle can be avoided. In the embodiment of the present application, the desired effect of lateral obstacle avoidance in the lane is to follow the AC trajectory, that is to say, the obstacle can be avoided without exceeding the boundary of the lane.
图4是本申请实施例的道内横向避障的场景示意图。为了便于理解,图4是在图3的基础上,只保留A、C处的车辆和B处的障碍物为例进行介绍。如图4所示,L1-L6分别表示了一些长度变量,其中,L1和L2均表示障碍物B与C处车辆之间的横向距离,L3表示障碍物B与A处车辆之间的纵向距离,L4表示如果按照AC轨迹行驶,车辆的横向偏移距离,L5和L6分别表示车辆与车道边界之间的距离。FIG. 4 is a schematic diagram of a scene of lateral obstacle avoidance in a track according to an embodiment of the present application. For ease of understanding, FIG. 4 is based on FIG. 3 , and only the vehicles at A and C and the obstacles at B are retained as examples for introduction. As shown in Figure 4, L1-L6 respectively represent some length variables, in which, L1 and L2 both represent the lateral distance between the obstacle B and the vehicle at C, and L3 represents the longitudinal distance between the obstacle B and the vehicle at A , L4 represents the lateral offset distance of the vehicle if it follows the AC trajectory, and L5 and L6 represent the distance between the vehicle and the lane boundary, respectively.
需要说明的是,在本申请实施例中,横向和纵向可以看作是相对车辆而言的,可以理解为车辆前进方向为纵向,或者车头与车尾的连线为纵向,也就是如图3或图4中的水平方向。可以理解为,与车辆前进方向垂直的为横向,或者与车头平行的方向,或者与车尾平行的方向,或者称之为车辆横向轴线,也就是如图3或图4中的垂直方向。在图4中, 车辆的纵向轴线用水平长虚线表示,车辆的横向轴线用竖直长虚线表示。It should be noted that, in the embodiment of the present application, the horizontal and vertical directions can be regarded as relative to the vehicle, and it can be understood that the forward direction of the vehicle is the vertical direction, or the connection line between the front and the rear of the vehicle is the vertical direction, that is, as shown in Figure 3 or the horizontal orientation in Figure 4. It can be understood that the direction perpendicular to the forward direction of the vehicle is the lateral direction, or the direction parallel to the front of the vehicle, or the direction parallel to the rear of the vehicle, or referred to as the vehicle transverse axis, that is, the vertical direction as shown in FIG. 3 or FIG. 4 . In FIG. 4 , the longitudinal axis of the vehicle is indicated by a long dashed horizontal line, and the lateral axis of the vehicle is indicated by a long dashed vertical line.
在确定车辆与障碍物之间的距离时,可以以车辆边沿为参考起点,也可以以车辆中心为参考起点,还可以以车辆的任意特定位置为参考起点,但无论选择哪个参考起点,都需要考虑车辆的实际尺寸,因此所带来的预期效果是等价的。为了安全性,可以以障碍物的距离车辆最近的边界点为参考终点。例如,假设车辆参考起点为车辆中心,则车辆与障碍物之间的横向距离为车辆纵向轴线与障碍物最近的边界点之间的距离,或者可以理解为障碍物中任意点与车辆纵向轴线之间的最短距离,如图4中的L2所示。假设车辆参考起点为车辆左侧边的点,则车辆与障碍物之间的横向距离为车辆左侧边与障碍物最近的边界点之间的距离,或者可以理解为障碍物中任意点与车辆左侧边界线之间的最短距离,如图4中的L1所示。可以理解的是,也可以采用车辆右侧边上的点作为参考起点,则车辆与障碍物之间的横向距离是障碍物中任意点与车辆右侧边界线之间的最短距离,图4中未示出。When determining the distance between the vehicle and the obstacle, the edge of the vehicle can be used as the reference starting point, the center of the vehicle can also be used as the reference starting point, and any specific position of the vehicle can be used as the reference starting point, but no matter which reference starting point is selected, it is necessary to Considering the actual size of the vehicle, the expected effect is therefore equivalent. For safety, the closest boundary point of the obstacle to the vehicle can be used as the reference end point. For example, assuming that the vehicle reference starting point is the center of the vehicle, the lateral distance between the vehicle and the obstacle is the distance between the longitudinal axis of the vehicle and the closest boundary point of the obstacle, or it can be understood as the distance between any point in the obstacle and the longitudinal axis of the vehicle The shortest distance between them is shown as L2 in Figure 4. Assuming that the reference starting point of the vehicle is the point on the left side of the vehicle, the lateral distance between the vehicle and the obstacle is the distance between the left side of the vehicle and the nearest boundary point of the obstacle, or it can be understood as any point in the obstacle and the vehicle The shortest distance between the left boundary lines, shown as L1 in Figure 4. It can be understood that the point on the right side of the vehicle can also be used as the reference starting point, then the lateral distance between the vehicle and the obstacle is the shortest distance between any point in the obstacle and the boundary line on the right side of the vehicle, as shown in Figure 4. Not shown.
又例如,假设车辆参考起点为车辆中心,则车辆的横向偏移距离为偏移前后车辆纵向轴线之间的距离,如图4中的L4所示。可以理解的是,也可以利用车辆的左侧边或右侧边来获得横向偏移距离。For another example, assuming that the reference starting point of the vehicle is the center of the vehicle, the lateral offset distance of the vehicle is the distance between the longitudinal axes of the vehicle before and after the offset, as shown by L4 in FIG. 4 . It will be appreciated that the lateral offset distance may also be obtained using the left or right side of the vehicle.
又例如,假设车辆参考起点为车辆中心,则车辆与障碍物之间的纵向距离为障碍物中任意点与车辆中线点所在的横向轴线之间的最短距离,图4中未示出。车辆纵向轴线之间的距离,如图4中的L4所示。For another example, assuming that the vehicle reference starting point is the center of the vehicle, the longitudinal distance between the vehicle and the obstacle is the shortest distance between any point in the obstacle and the transverse axis where the centerline point of the vehicle is located, which is not shown in FIG. 4 . The distance between the longitudinal axes of the vehicle, as indicated by L4 in Figure 4.
又例如,假设车辆参考起点为车辆的车头,则车辆与障碍物之间的纵向距离为障碍物中任意点与车辆车头所在纵向轴线之间的最短距离,如图4中的L3所示。由于车头会有一定弧度,为了安全性,可以进一步取车头中距离中心点处的纵向轴线最远的点作为参考起点。For another example, assuming that the reference starting point of the vehicle is the front of the vehicle, the longitudinal distance between the vehicle and the obstacle is the shortest distance between any point in the obstacle and the longitudinal axis where the front of the vehicle is located, as shown by L3 in FIG. 4 . Since the front of the car will have a certain arc, for safety, the point in the front of the car that is farthest from the longitudinal axis at the center point can be further taken as the reference starting point.
车辆与车道边界之间的横向距离可以利用两侧边分别与同侧车道边界之间的距离表示,也可以利用车辆纵向轴线分别与两侧车道边界之间的距离表示。例如图4中,L5表示的是车辆左侧边与车道边界之间的距离,L6表示的是右侧边与车道边界之间的距离。下面结合一些具体数据举例说明参考点不同依然等价。假设车辆长4米宽1.8米,车道宽3.5米,当以中心为参考点时,假设障碍物与A处车辆中心点所在横向轴线之间的距离为L7,则障碍物与A处车辆之间的纵向距离L7=L3+2米,所以采用L7或L3中的哪个变量都是等价的。同样的,A处车辆与车道边界之间的距离分别为L5+0.9米和L6+0.9米,因此也是等价的变量。The lateral distance between the vehicle and the lane boundary can be expressed by the distance between the two sides and the lane boundary on the same side, or the distance between the longitudinal axis of the vehicle and the lane boundary on both sides. For example, in Figure 4, L5 represents the distance between the left side of the vehicle and the lane boundary, and L6 represents the distance between the right side and the lane boundary. The following is a combination of some specific data to illustrate that the reference points are still equivalent. Assuming that the vehicle is 4 meters long and 1.8 meters wide, and the lane is 3.5 meters wide, when the center is taken as the reference point, assuming that the distance between the obstacle and the lateral axis where the center point of the vehicle at A is L7, then the distance between the obstacle and the vehicle at A is L7. The longitudinal distance of L7=L3+2 meters, so it is equivalent to use either variable in L7 or L3. Likewise, the distances between the vehicle and the lane boundary at A are L5 + 0.9 m and L6 + 0.9 m, respectively, and are therefore equivalent variables.
可选地,在具体执行道内横向避障时,可以引入期望横向偏移距离来确保道内横向避障的执行。期望横向偏移距离可以是利用环境信息得到的。在一种情况下,期望横向偏移距离可以看作是一个具有数值范围的横向偏移距离,当实际横向偏移距离在该数值范围内的时候,认为实际横向偏移距离满足期望横向偏移距离的需求,否则认为实际横向偏移距离不满足期望横向偏移距离的需求。在另一种情况下,期望横向偏移距离也可以看作是一个具体数值,当实际横向偏移距离与该具体数值的差值在一定范围内的时候认为实际横向偏移距离满足期望横向偏移距离的需求,否则认为实际横向偏移距离不满足期望横向偏移距离的需求。Optionally, when executing the lateral obstacle avoidance in the lane, a desired lateral offset distance may be introduced to ensure the execution of the lateral obstacle avoidance in the lane. The desired lateral offset distance may be derived using environmental information. In one case, the desired lateral offset distance can be regarded as a lateral offset distance with a numerical range, and when the actual lateral offset distance is within the numerical range, it is considered that the actual lateral offset distance satisfies the expected lateral offset distance Otherwise, it is considered that the actual lateral offset distance does not meet the requirements of the desired lateral offset distance. In another case, the desired lateral offset distance can also be regarded as a specific value. When the difference between the actual lateral offset distance and the specific value is within a certain range, it is considered that the actual lateral offset distance satisfies the expected lateral offset distance. Otherwise, it is considered that the actual lateral offset distance does not meet the requirements of the expected lateral offset distance.
实际横向偏移距离可以理解为是车辆在继续行驶时,与障碍物之间的横向偏移距离。The actual lateral offset distance can be understood as the lateral offset distance between the vehicle and the obstacle when the vehicle continues to drive.
在一种实现方式中,可以根据期望横向偏移距离来控制车辆执行道内横向避障,或者可以理解为在控制车辆执行道内横向避障的时候,使得实际横向偏移距离满足期望横向偏移距离的需求。In an implementation manner, the vehicle may be controlled to perform lateral obstacle avoidance within the lane according to the desired lateral offset distance, or it may be understood that the actual lateral offset distance satisfies the desired lateral offset distance when the vehicle is controlled to perform lateral obstacle avoidance within the lane demand.
在上述实现方式的一个例子中,可以调整车辆的动力信息,以达到所述实际横向偏移距离,从而使得车辆的实际横向偏移距离满足期望横向偏移的需求,达到道内横向避障的目的。该动力信息可以包括以下至少一种:角速度、方向盘转动角度、转向角和转矩。也就是说,通过调整动力信息达到改变车辆运动状态的目的,从而使得调整后车辆的横向偏移距离能够满足期望横向偏移距离的需求。在这种情况下,调整后的横向偏移距离即为实际偏移距离,动力信息的调整可以使得车辆达到实际横向偏移距离。In an example of the above implementation manner, the power information of the vehicle can be adjusted to achieve the actual lateral offset distance, so that the actual lateral offset distance of the vehicle meets the requirements of the desired lateral offset and achieves the purpose of lateral obstacle avoidance in the lane . The power information may include at least one of the following: angular velocity, steering wheel rotation angle, steering angle and torque. That is to say, the purpose of changing the motion state of the vehicle is achieved by adjusting the power information, so that the lateral offset distance of the adjusted vehicle can meet the requirement of the desired lateral offset distance. In this case, the adjusted lateral offset distance is the actual offset distance, and the adjustment of the power information can make the vehicle reach the actual lateral offset distance.
期望横向偏移距离可以是本申请实施例的控制装置根据环境信息获取的期望的横向偏移距离,可以是一个数值范围,也可以是一个数值,也就是说,实际横向偏移距离满足期望横向偏移距离的需求等价于既能保证避开障碍物又能保证不超出车道,前者是利用两个参数的关系来描述,后者则是利用车辆实际呈现的行驶状态来描述。The desired lateral offset distance may be the expected lateral offset distance obtained by the control device in the embodiment of the present application according to the environmental information, which may be a numerical range or a numerical value, that is, the actual lateral offset distance satisfies the expected lateral offset distance. The requirement of the offset distance is equivalent to ensuring that the obstacle is avoided and the lane is not exceeded. The former is described by the relationship between two parameters, and the latter is described by the actual driving state of the vehicle.
在另一个例子中,可以根据期望横向偏移距离和预测横向偏移距离的差值来调整车辆的动力信息。例如可以在当差值在一定阈值范围内(即实际横向偏移距离满足期望横向偏移距离的需求)时不进行调整,只有在该差值不在阈值范围内(即实际横向偏移距离不满足期望横向偏移距离的需求)的时候才进行调整。预测横向偏移距离则可以是通过车辆的动力信息预测得到的横向偏移距离。In another example, the power information of the vehicle may be adjusted based on the difference between the expected lateral offset distance and the predicted lateral offset distance. For example, when the difference is within a certain threshold range (that is, the actual lateral offset distance meets the requirement of the desired lateral offset distance), no adjustment is performed, and only when the difference is not within the threshold range (that is, the actual lateral offset distance does not meet the requirement) The adjustment is made only when the desired lateral offset distance is required). The predicted lateral offset distance may be a lateral offset distance predicted by the dynamic information of the vehicle.
预测横向偏移距离可以理解为车辆根据当前的动力信息继续行驶会形成的横向偏移距离,也就是说,预测横向距离是可以通过动力信息得到的。当不进行动力信息的调整的时候,相当于没有改变预测横向偏移距离,因此也没有改变实际横向偏移距离;当进行动力信息的调整的时候,相当于改变了预测横向偏移距离,从而改变了实际横向偏移距离。举例说明,假设T1时刻早于T2时刻,T2时刻的横向偏移距离为实际横向偏移距离,在T1时刻预测横向偏移距离是A米,如果在T1时刻不进行动力信息的调整,则T2时刻的横向偏移距离依然是A米,也就是实际横向偏移距离与T1时刻的预测横向偏移距离相同。如果在T1时刻进行了动力信息的调整,则T2时刻的横向偏移距离不再是A米,也就是实际横向偏移距离与T1时刻的预测横向偏移距离不相同,T1、T2、A均为正实数。The predicted lateral offset distance can be understood as the lateral offset distance formed by the vehicle continuing to drive according to the current power information, that is, the predicted lateral distance can be obtained through the power information. When the dynamic information is not adjusted, the predicted lateral offset distance is not changed, so the actual lateral offset distance is not changed; when the dynamic information is adjusted, the predicted lateral offset distance is changed, so Changed the actual lateral offset distance. For example, assuming that time T1 is earlier than time T2, the lateral offset distance at time T2 is the actual lateral offset distance, and the predicted lateral offset distance at time T1 is A meter. If the power information is not adjusted at time T1, then T2 The lateral offset distance at time is still A meter, that is, the actual lateral offset distance is the same as the predicted lateral offset distance at time T1. If the power information is adjusted at time T1, the lateral offset distance at time T2 is no longer A meters, that is, the actual lateral offset distance is not the same as the predicted lateral offset distance at time T1. T1, T2, and A are all different. is a positive real number.
当为自动驾驶场景时,如果车辆所有设备或装置都性能良好运行正常,则多数情况下期望横向偏移距离与预测横向偏移距离基本保持一致,也就是说,几乎不会需要调整,但如果车辆某些零件发生故障、数据的采集产生噪声影响等各类情况的时候,可能会出现预测横向偏移距离不在期望横向偏移距离的范围内(即会导致实际横向偏移距离不满足期望横向偏移距离的需求)的情况,此时就需要对预测横向偏移距离进行调整,确保道内横向避障的执行。在这种场景中,预测横向偏移距离可以是根据角速度、转向角、转矩等各类动力信息中的一种或多种来得到,而一般自动驾驶的时候方向盘不会自行转动,所以可以不通过方向盘转向角度来获取预测横向偏移距离,当然如果依然将车辆设置为方向盘根据对车辆的控制自行转动,则在该情况下依然可以通过方向盘转动角度来获取预测横向偏移距离。In an autonomous driving scenario, if all the equipment or devices of the vehicle perform well, in most cases, the expected lateral offset distance is basically the same as the predicted lateral offset distance, that is, almost no adjustment is required, but if When some parts of the vehicle fail, and the data collection produces noise effects, it may happen that the predicted lateral offset distance is not within the range of the expected lateral offset distance (that is, the actual lateral offset distance does not meet the expected lateral offset distance). Offset distance requirements), at this time, it is necessary to adjust the predicted lateral offset distance to ensure the execution of lateral obstacle avoidance in the lane. In this scenario, the predicted lateral offset distance can be obtained from one or more types of dynamic information such as angular velocity, steering angle, and torque. Generally, the steering wheel will not turn by itself during automatic driving, so it can be The predicted lateral offset distance is not obtained by the steering angle of the steering wheel. Of course, if the vehicle is still set so that the steering wheel rotates by itself according to the control of the vehicle, in this case, the predicted lateral offset distance can still be obtained through the steering wheel rotation angle.
当为辅助驾驶或人工驾驶场景时,方向盘的转动角度对于车辆的行驶方向的影响最大,而方向盘又是驾驶员操控的。驾驶员操控方向盘来避障是很难做到保证道内横向避障 的,这对于驾驶员的观察力、反应速度、判断力和执行力都是有要求的,所以这种场景下,往往会出现预测横向偏移距离与期望横向偏移距离之间的差值,也就是说,驾驶员的操控对预测横向偏移距离的产生影响较大,而人的行为存在随机性,所以容易出现反应过度或者反应不及时的情况,导致超出车道边界或者没有避开障碍物(即会导致实际横向偏移距离不满足期望横向偏移距离的需求)。此时就可以通过期望横向偏移距离来保证道内横向避障的有效执行。在这两种场景中,预测横向偏移程度可以是根据方向盘转动角度来得到的,也可以是根据角速度、转向角、转矩等各类动力信息中的一种或多种来得到。When it is an assisted driving or manual driving scenario, the rotation angle of the steering wheel has the greatest influence on the driving direction of the vehicle, and the steering wheel is controlled by the driver. It is difficult for the driver to control the steering wheel to avoid obstacles. This requires the driver's observation, reaction speed, judgment and execution. Therefore, in this scenario, it often occurs. The difference between the predicted lateral offset distance and the expected lateral offset distance, that is, the driver's manipulation has a greater impact on the predicted lateral offset distance, and human behavior is random, so it is prone to overreaction Or the untimely response results in exceeding the lane boundary or failing to avoid obstacles (that is, the actual lateral offset distance does not meet the requirement of the expected lateral offset distance). At this time, the desired lateral offset distance can be used to ensure the effective execution of lateral obstacle avoidance in the lane. In these two scenarios, the predicted lateral offset degree can be obtained according to the rotation angle of the steering wheel, or it can be obtained according to one or more kinds of dynamic information such as angular velocity, steering angle, and torque.
在一些实现方式中,在执行步骤202时,可以根据第一距离和第一阈值来实现。也就是说,上述环境信息可以用于指示第一距离和第一阈值,其中,第一距离用于表示车辆与所在车道的边界之间的距离,第一阈值用于表示通过横向避障避开障碍物需要的最小横向偏移距离。则在根据环境信息进行车辆避障控制时(即执行步骤202时)就可以根据第一距离和第一阈值,控制车辆执行道内横向避障或者执行道外横向避障。In some implementations, when step 202 is performed, it can be implemented according to the first distance and the first threshold. That is to say, the above-mentioned environmental information can be used to indicate a first distance and a first threshold, wherein the first distance is used to represent the distance between the vehicle and the boundary of the lane where it is located, and the first threshold is used to represent the avoidance through lateral obstacle avoidance The minimum lateral offset distance required for the obstacle. Then, when the vehicle obstacle avoidance control is performed according to the environmental information (ie, when step 202 is performed), the vehicle can be controlled to perform lateral obstacle avoidance inside the lane or lateral obstacle avoidance outside the lane according to the first distance and the first threshold.
在上述实现方式的一个例子中,可以通过执行以下操作来实现:In an example of the above implementation, it can be achieved by performing the following operations:
当第一距离大于第一阈值时,控制车辆执行道内横向避障;或者When the first distance is greater than the first threshold, control the vehicle to perform lateral obstacle avoidance within the lane; or
当第一距离小于或者等于第一阈值时,控制车辆执行道外横向避障。When the first distance is less than or equal to the first threshold, the vehicle is controlled to perform off-track lateral obstacle avoidance.
需要说明的是,第一距离和第一阈值相同的情况,作为一个临界的情况既可以执行道内横向避障,也可以执行道外横向避障,但是,临界情况执行道外横向避障相对安全。It should be noted that, in the case where the first distance is the same as the first threshold, as a critical situation, it is possible to perform lateral obstacle avoidance within the track and lateral obstacle avoidance outside the track. However, it is relatively safe to perform lateral obstacle avoidance outside the track in a critical situation.
以图5所示为例,图5是本申请实施例的道内横向避障的场景示意图。假设第一距离为L40,L40为车辆右侧边与车道边界之间的距离。在实际中,一般不会完全贴着障碍物边缘绕过,所以会预留一定的距离,在图5中用L20表示,当前车辆与障碍物之间的横向距离为L10,如果车辆想要绕过障碍物,则至少需要L30的横向偏移距离,因此即为最小偏移程度。L30小于L40,所以车辆可以进行道内避障,也就是说,第一距离中的L40大于L30,可以进行道内横向避障。Taking FIG. 5 as an example, FIG. 5 is a schematic diagram of a scene of lateral obstacle avoidance in a road according to an embodiment of the present application. Assume that the first distance is L40, which is the distance between the right side of the vehicle and the lane boundary. In practice, it is generally not completely close to the edge of the obstacle, so a certain distance will be reserved, which is represented by L20 in Figure 5. The current lateral distance between the vehicle and the obstacle is L10. If the vehicle wants to go around Over obstacles, at least a lateral offset distance of L30 is required, so it is the minimum offset. L30 is less than L40, so the vehicle can avoid obstacles in the lane, that is to say, if the L40 in the first distance is greater than L30, it can avoid obstacles laterally in the lane.
需要说明的是,对于实际场景,遇到障碍物如果横向避障,一般是往远离障碍物的一侧偏移,对于图5所示场景,障碍物在车道左侧,且距离车辆左侧边更近,所以会往右偏移。但应理解,即使看作是也可以往左偏移,也依然包含在上述示例的情况当中,相当于如果往左偏移,第一距离小于第一阈值,导致不足以在车道内绕过障碍物。It should be noted that, for the actual scene, if you encounter an obstacle and avoid the obstacle laterally, it is generally offset to the side away from the obstacle. For the scene shown in Figure 5, the obstacle is on the left side of the lane and is far from the left side of the vehicle. closer, so it will be offset to the right. However, it should be understood that even if it is considered that it can be shifted to the left, it is still included in the case of the above example, which is equivalent to that if it is shifted to the left, the first distance is smaller than the first threshold, resulting in insufficient to bypass the obstacle in the lane thing.
示例性的,第一距离可以是根据道路结构信息中的边界的信息来得到的。结合图3-图5,例如,可以根据道路结构信息中的边界的信息(即车辆所在车道的边界的信息),确定第一距离。Exemplarily, the first distance may be obtained according to boundary information in the road structure information. 3 to 5 , for example, the first distance may be determined according to the information of the boundary in the road structure information (that is, the information of the boundary of the lane where the vehicle is located).
在一些实现方式中,第一阈值可以是通过车辆与障碍物的相对位置关系和/或通过车辆与障碍物的相对运动关系获取的,障碍物的信息和道路结构信息指示了相对位置关系,以及,车辆的动力信息和障碍物的信息指示了相对运动关系。结合图3-图5,例如,可以根据车辆与障碍物的相对位置关系和/或车辆与障碍物的相对运动关系确定第一阈值。In some implementations, the first threshold may be obtained through a relative positional relationship between the vehicle and the obstacle and/or through a relative motion relationship between the vehicle and the obstacle, the information of the obstacle and the road structure information indicating the relative positional relationship, and , the dynamic information of the vehicle and the information of the obstacles indicate the relative motion relationship. 3-5, for example, the first threshold may be determined according to the relative positional relationship between the vehicle and the obstacle and/or the relative motion relationship between the vehicle and the obstacle.
如上文步骤201中所述,障碍物的信息除了可以包括障碍物尺寸信息、运动状态信息等信息以外,还可以包括障碍物的类型的信息,因此,第一阈值可以对应于障碍物的类型,即可以将第一阈值与障碍物的类型进行对应。As described in step 201 above, the information of the obstacle may include information of the type of the obstacle in addition to the information of the size of the obstacle and the information of the motion state. Therefore, the first threshold may correspond to the type of the obstacle, That is, the first threshold can be associated with the type of the obstacle.
在第一种实现方式中,第一阈值与障碍物的类型的对应关系可以是预先定义或者预先设置的,或者第一阈值还可以是在避障过程中根据障碍物的类型确定或者调整。In a first implementation manner, the correspondence between the first threshold and the type of the obstacle may be predefined or preset, or the first threshold may also be determined or adjusted according to the type of the obstacle during the obstacle avoidance process.
在上述实现方式的一个例子中,如果障碍物为如图3-8中所示例的静态的障碍物(相对道路静止),也就是说,障碍物类型为一般静态障碍物,则第一阈值可以相对较小,结合图5而言,就是L20的数值相对较小,从而L30的数值相对较小,相当于只需要避开障碍物很小的一段距离。如果障碍物为行人,也就是说,障碍物的类型为行人,则第一阈值可以相对较大,结合图5而言,就是L20的数值相对较大,从而L30的数值相对较大,相当于尽可能多避开障碍物一段距离。In an example of the above implementation, if the obstacle is a static obstacle (static relative to the road) as shown in Figures 3-8, that is, the obstacle type is a general static obstacle, the first threshold may be Relatively small, according to Figure 5, the value of L20 is relatively small, so the value of L30 is relatively small, which is equivalent to only need to avoid a small distance of obstacles. If the obstacle is a pedestrian, that is to say, the type of the obstacle is a pedestrian, the first threshold can be relatively large. In combination with Figure 5, the value of L20 is relatively large, so the value of L30 is relatively large, which is equivalent to Avoid as many obstacles as possible for a distance.
应理解,障碍物为车辆时,也有可能可以进行道内横向避障,例如图9所示。图9是本申请实施例的障碍物为其他车辆的示意图。如图9所示,车辆A的行驶方向前方出现了车辆B,且车辆B只有右侧一小部分在车辆A所在车道内,这种情况是可以进行道内横向避障的。It should be understood that when the obstacle is a vehicle, it is also possible to perform lateral obstacle avoidance in the lane, for example, as shown in FIG. 9 . FIG. 9 is a schematic diagram of an obstacle according to an embodiment of the present application being another vehicle. As shown in Figure 9, vehicle B appears in front of the driving direction of vehicle A, and only a small part of the right side of vehicle B is in the lane where vehicle A is located. In this case, lateral obstacle avoidance in the lane can be performed.
在第二种实现方式中,可以通过预定义或预先设置L20与类型的对应关系来使得第一阈值可以与障碍物类型对应,也就是说,在实际遇到障碍物的过程中,车辆与障碍物的横向距离可能是变化的,但在获得第一阈值时,L20的数值是预定义好的,此时,就可以直接将障碍物与车辆的横向距离与L20相加,得到第一阈值。进一步举例说明,假设行人的预留距离L20是0.6米,石块的预留距离L20是0.2米,如果T1时刻车辆与行人甲的横向距离为0.5米,则T1时刻的第一阈值为0.6米加上0.5米(即1.1米),如果T2时刻车辆与石块乙的横向距离为0.5米(为了比较,此处特意设置为与前面一个例子的横向距离相同),则T2时刻的第一阈值为0.2米加上0.5米(即0.7米),可以看出,在这个例子中,第一阈值与类型的对应关系,等价于L20与类型的对应关系。In the second implementation manner, the correspondence between L20 and the type can be pre-defined or preset so that the first threshold can correspond to the type of the obstacle, that is, in the process of actually encountering the obstacle, the vehicle and the obstacle The lateral distance of the obstacle may vary, but when the first threshold is obtained, the value of L20 is predefined. At this time, the lateral distance between the obstacle and the vehicle can be directly added to L20 to obtain the first threshold. As a further example, assuming that the reserved distance L20 for pedestrians is 0.6 meters, and the reserved distance L20 for stones is 0.2 meters, if the lateral distance between the vehicle and the pedestrian A at time T1 is 0.5 meters, the first threshold at time T1 is 0.6 meters. Add 0.5 meters (that is, 1.1 meters), if the lateral distance between the vehicle and the stone B at T2 is 0.5 meters (for comparison, it is deliberately set to be the same as the lateral distance in the previous example), then the first threshold at T2 It can be seen that, in this example, the correspondence between the first threshold and the type is equivalent to the correspondence between the L20 and the type.
上述两种实现方式,最终都可以达到第一阈值与障碍物的类型的对应的目的,只是第一种实现方式是第一阈值直接与障碍物的类型对应,而第二种实现方式则是预留的与障碍物之间的距离(L20)与障碍物的类型之间的对应。The above two implementations can ultimately achieve the purpose of corresponding between the first threshold and the type of obstacle, but the first implementation is that the first threshold directly corresponds to the type of obstacle, while the second implementation is to pre- Correspondence between the distance (L20) left and the obstacle and the type of obstacle.
可选地,步骤202还可以是只在一定的执行条件下才执行,即只有在满足一定条件的时候才会执行道内横向避障或道外横向避障。Optionally, step 202 may also be executed only under certain execution conditions, that is, only when certain conditions are met, lateral obstacle avoidance within the track or lateral obstacle avoidance outside the track is executed.
也就是说,在一些实现方式中,上述控制方法还可以包括执行下面的操作:当第二距离小于或等于第二阈值时,执行道内横向避障或执行道外横向避障。其中,第二距离和第二阈值可以是利用环境信息得到的,第二距离用于表示车辆与障碍物之间的纵向距离,第二阈值用于表示通过纵向避障避开障碍物需要的最小纵向距离。That is, in some implementation manners, the above control method may further include performing the following operation: when the second distance is less than or equal to the second threshold, performing lateral obstacle avoidance within the track or performing lateral obstacle avoidance outside the track. Wherein, the second distance and the second threshold can be obtained by using environmental information, the second distance is used to represent the longitudinal distance between the vehicle and the obstacle, and the second threshold is used to represent the minimum distance required to avoid obstacles through longitudinal obstacle avoidance Longitudinal distance.
在上述实现方式中,还可以执行下面的操作:当第二距离大于第二阈值时,执行纵向避障。In the above implementation manner, the following operation may also be performed: when the second distance is greater than the second threshold, perform longitudinal obstacle avoidance.
应理解,上述当第二距离小于或等于第二阈值时,执行道内横向避障或执行道外横向避障,则相当于给执行横向避障增加了一个执行条件,也就是只有在第二距离小于或等于第二阈值的时候才执行,相当于先进行第二阈值的相关判断再进行第一阈值的相关判断。除上述实现方式以外,还可以同时进行第一阈值和第二阈值的相关判断,在这种情况下,相当于车辆执行了下面的操作:It should be understood that when the second distance is less than or equal to the second threshold, the execution of lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane is equivalent to adding an execution condition to the execution of lateral obstacle avoidance, that is, only when the second distance is less than or equal to the second threshold. It is only executed when it is equal to the second threshold value, which is equivalent to first performing the relevant judgment of the second threshold value and then performing the relevant judgment of the first threshold value. In addition to the above implementations, the related judgments of the first threshold and the second threshold can also be performed at the same time. In this case, it is equivalent to the vehicle performing the following operations:
当第一距离大于第一阈值且第二距离小于或等于第二阈值时,控制车辆执行道内横向避障;或者When the first distance is greater than the first threshold and the second distance is less than or equal to the second threshold, control the vehicle to perform lateral obstacle avoidance within the lane; or
当第一距离小于或者等于第一阈值且第二距离小于或等于第二阈值时,控制车辆执行道外横向避障;或者When the first distance is less than or equal to the first threshold and the second distance is less than or equal to the second threshold, control the vehicle to perform off-street lateral obstacle avoidance; or
当第二距离大于第二阈值时,执行纵向避障。When the second distance is greater than the second threshold, longitudinal obstacle avoidance is performed.
可以看出,在这种情况下,三个条件只能择一,因为车辆最终执行的是道内横向避障、道外横向避障或纵向避障三者之一,因此这种情况下无论先判断哪个判定条件都可以。It can be seen that in this case, only one of the three conditions can be selected, because the vehicle finally executes one of the lateral obstacle avoidance inside the lane, lateral obstacle avoidance outside the lane, or vertical obstacle avoidance. Any judgment condition may be used.
应理解,第二距离与第二阈值相同(第二距离等于第二阈值)的情况,作为一个临界的情况既可以执行横向避障(即执行道内横向避障或者道外横向避障),也可以执行纵向避障,但是,临界情况执行横向避障相对安全。在一些实现方式中,上述控制方法还可以包括执行下面的操作:若确定执行道内横向避障的时间长度大于或等于预设时间阈值时,停止执行道内横向避障。这种情况下,可以看作是超过一定时间之后,就结束对于道内横向避障的控制。相当于将车辆的控制权交还给其他模块或者是交还给驾驶员控制。举例说明,驾驶员反应不足一般也就是几秒钟,相当于突然看到障碍物没来得及反应,此时可以通过本申请实施例的控制来实现避障,从而弥补驾驶员的失误,但如果控制时间已经过去这几秒了,此时驾驶员已经反应过来了,则可以不再接管控制,可以将控制权交还给驾驶员。It should be understood that in the case where the second distance is the same as the second threshold (the second distance is equal to the second threshold), as a critical situation, lateral obstacle avoidance (ie, lateral obstacle avoidance within the track or lateral obstacle avoidance outside the track) can be performed, or Perform longitudinal obstacle avoidance, however, it is relatively safe to perform lateral obstacle avoidance in critical situations. In some implementation manners, the above control method may further include performing the following operation: if it is determined that the length of time for performing in-track lateral obstacle avoidance is greater than or equal to a preset time threshold, stopping execution of in-track lateral obstacle avoidance. In this case, it can be considered that after a certain period of time, the control of the lateral obstacle avoidance in the lane is ended. It is equivalent to returning control of the vehicle to other modules or to the driver. For example, the driver's lack of response is generally a few seconds, which is equivalent to suddenly seeing an obstacle and not having time to respond. At this time, the control of the embodiment of the present application can be used to achieve obstacle avoidance, thereby making up for the driver's error, but if the control The time has elapsed for a few seconds, and the driver has reacted at this time, so he can no longer take over the control, and the control can be returned to the driver.
应理解,该预设时间阈值可以是通过人的反应时间来得到的,例如假设研究表明人类应激反应的时间不会超过3秒,则预设时间阈值可以为3秒,或者可以为3秒至4秒中的任意一个值,甚至还可以为2.8秒等等,也就是说,可以根据实际情况来预设时间阈值。It should be understood that the preset time threshold may be obtained from the reaction time of a person. For example, assuming that research shows that the time of human stress response will not exceed 3 seconds, the preset time threshold may be 3 seconds, or may be 3 seconds. Any value of 4 seconds, or even 2.8 seconds, etc., that is to say, the time threshold can be preset according to the actual situation.
下面以辅助驾驶为例,举例介绍一些道内横向避障的控制。虽然根据一定的依据控制车辆执行道内横向避障,但当驾驶员控制车辆行驶时,遇到障碍物容易发生反应过度或反应迟缓的情况,前者容易导致超过本车道边界,后者容易导致无法避开障碍物,此时就可以加入控制机制,通过调整车辆的横向偏移程度了来保证道内横向避障,结合实际而言,相当于当驾驶员反应过度的时候适当减小横向偏移程度,当驾驶员反应迟缓的时候适当增大横向偏移程度。进一步举例,假设驾驶员看到前方有障碍物,猛转方向盘,但该转向角(动力信息的一例)所带来的横向偏移程度(即预测横向偏移程度)已经远大于期望横向偏移程度,此时就可以调整转向角、转矩等(即调整动力信息)来将过大的横向偏移程度减小。假设驾驶员看到前方有障碍物,一时紧张晚了一点时间转方向盘甚至可能是转错方向,导致该转向角(动力信息的一例)所带来的横向偏移程度(即预测横向偏移程度)已经远小于期望横向偏移程度,此时就可以调整转向角、转矩等(即调整动力信息)来将过小的横向偏移程度增大。期望横向偏移程度可以看作是一个具有数值范围的横向偏移距离或横向偏移角度。The following takes assisted driving as an example to introduce some control of lateral obstacle avoidance in the lane. Although the vehicle is controlled to perform lateral obstacle avoidance in the lane according to a certain basis, when the driver controls the vehicle, it is prone to overreaction or slow reaction when encountering obstacles. When opening obstacles, a control mechanism can be added at this time, and the lateral offset degree of the vehicle can be adjusted to ensure lateral obstacle avoidance in the lane. In practice, it is equivalent to appropriately reducing the lateral offset degree when the driver overreacts. When the driver's response is slow, the lateral offset degree should be appropriately increased. As a further example, suppose the driver sees an obstacle ahead and turns the steering wheel sharply, but the degree of lateral offset (ie, the predicted degree of lateral offset) brought about by the steering angle (an example of dynamic information) is already much larger than the expected lateral offset. At this point, you can adjust the steering angle, torque, etc. (ie, adjust the power information) to reduce the degree of excessive lateral offset. Suppose the driver sees an obstacle ahead and turns the steering wheel a little later in a moment of tension, and may even turn in the wrong direction, resulting in the degree of lateral offset (that is, the degree of predicted lateral offset) brought about by the steering angle (an example of dynamic information). ) is much smaller than the desired lateral offset degree, at this time, the steering angle, torque, etc. can be adjusted (ie, the power information is adjusted) to increase the too small lateral offset degree. The desired lateral offset degree can be viewed as a lateral offset distance or lateral offset angle with a range of values.
图6是本申请实施例的道内横向避障的执行过程示意图。下面对图6所示各个步骤进行介绍。FIG. 6 is a schematic diagram of an execution process of in-track lateral obstacle avoidance according to an embodiment of the present application. Each step shown in FIG. 6 will be introduced below.
601、获取环境信息。601. Obtain environmental information.
可选地,可以采用步骤201相同的方法来执行步骤601,为了简洁,不再重复介绍。Optionally, the same method as step 201 can be used to perform step 601, and the description is not repeated for brevity.
602、根据环境信息进行避障控制。602. Perform obstacle avoidance control according to environmental information.
可选地,可以参照步骤202中的相关介绍来执行步骤602,为了简洁,不再重复介绍。Optionally, step 602 may be performed with reference to the relevant introduction in step 202, and the description will not be repeated for brevity.
需要说明的是,步骤601和步骤602并不是道内横向避障具体执行的过程中的步骤,但为了便于理解道内横向避障和前述避障控制方案之间的关系,特给出了步骤601和步骤602。It should be noted that steps 601 and 602 are not steps in the specific execution process of in-track lateral obstacle avoidance, but in order to facilitate the understanding of the relationship between in-track lateral obstacle avoidance and the aforementioned obstacle avoidance control scheme, steps 601 and 602 are given. Step 602.
603、当进行道内横向避障时,触发道内横向避障控制。603. When performing in-lane lateral obstacle avoidance control, trigger in-lane lateral obstacle avoidance control.
可选地,在自动驾驶场景中,可以是自动触发的方式。例如控制器或者处理器等可以执行步骤602的装置给出一个触发指令或者触发电信号,从而触发道内横向避障控制。Optionally, in an automatic driving scenario, it can be triggered automatically. For example, a device such as a controller or a processor that can execute step 602 gives a trigger instruction or a trigger electrical signal, thereby triggering the lateral obstacle avoidance control in the lane.
当辅助驾驶或一般驾驶时,可以是在选择道内横向避障后,驾驶员转动方向盘的动作来触发。When assisting driving or general driving, it can be triggered by the driver turning the steering wheel after selecting lateral obstacle avoidance in the lane.
604、根据动力信息获得预测横向偏移程度。604. Obtain a predicted lateral offset degree according to the dynamic information.
也就是说,可以根据车辆的动力信息来预测车辆根据该动力信息继续行驶的情况下的横向偏移程度。That is, the degree of lateral deviation in the case where the vehicle continues to travel according to the power information can be predicted based on the power information of the vehicle.
可选地,可以通过上文所述任意一种或多种感知设备获得动力信息。预测横向偏移程度可以理解为,在当前车辆的实际转向角、转矩、速度、角速度等参数情况下,预测车辆会横向偏移的量。Optionally, power information may be obtained through any one or more of the sensing devices described above. The predicted lateral deviation degree can be understood as the predicted amount of lateral deviation of the vehicle under the actual steering angle, torque, speed, angular velocity and other parameters of the current vehicle.
605、判断预测横向偏移程度是否会导致无法避开障碍物,当判断结果为“是”时转为执行步骤606,当判断结果为“否”时转为执行步骤607。605. Determine whether the predicted lateral offset degree will cause the obstacle to be avoided. When the determination result is "Yes", go to step 606, and when the determination result is "No", go to step 607.
应理解,无法避开障碍物是预测横向偏移程度远小于期望横向偏移程度的结果呈现,也就是说,当车辆继续按照当前的动力信息进行行驶,而不进行调整,则预测横向偏移程度不变,从而实际横向偏移程度不变,这种情况相当于实际横向偏移程度会不足(实际横向偏移程度不能满足期望横向偏移程度的需求的一例)。It should be understood that the inability to avoid obstacles is the result of the predicted lateral offset degree being much smaller than the expected lateral offset degree, that is, when the vehicle continues to drive according to the current power information without adjustment, the predicted lateral offset Therefore, the actual lateral offset degree remains unchanged, which is equivalent to the fact that the actual lateral offset degree will be insufficient (an example in which the actual lateral offset degree cannot meet the requirement of the desired lateral offset degree).
606、调整动力信息,使得车辆可以避开障碍物。606. Adjust the power information so that the vehicle can avoid obstacles.
也就是说,可以通过调整动力信息,使得不足(即过小)的预测横向偏移程度增大,从而实际横向偏移程度会增大到可以满足期望横向偏移程度的需求。That is, the power information can be adjusted to increase the predicted lateral offset degree that is insufficient (ie, too small), so that the actual lateral offset degree can be increased to meet the requirement of the desired lateral offset degree.
可以看出,该步骤对动力信息的调整可以使得车辆达到实际横向偏移程度,也就是说,调整后的动力信息决定了调整之后车辆继续行驶的实际横向偏移程度。It can be seen that the adjustment of the power information in this step can make the vehicle reach the actual lateral offset degree, that is to say, the adjusted power information determines the actual lateral offset degree of the vehicle continuing to travel after the adjustment.
607、判断预测横向偏移程度是否会导致车辆超过所在车道,当判断结果为“是”时转为执行步骤609,当判断结果为“否”时转为执行步骤608。607. Determine whether the predicted lateral deviation degree will cause the vehicle to overtake the lane where it is located. When the determination result is "Yes", go to step 609, and when the determination result is "No", go to step 608.
应理解,车辆超过所在车道是预测横向偏移程度远大于期望横向偏移程度的结果呈现,也就是说,当车辆继续按照当前的动力信息进行行驶,而不进行调整,则预测横向偏移程度不变,从而实际横向偏移程度不变,这种情况相当于实际横向偏移程度会过大(实际横向偏移程度不能满足期望横向偏移程度的需求的另一例)。It should be understood that when the vehicle exceeds the lane in which it is located, the predicted lateral deviation degree is much larger than the expected lateral deviation degree. That is to say, when the vehicle continues to drive according to the current power information without adjustment, the predicted lateral deviation degree Therefore, the actual lateral offset degree remains unchanged, which is equivalent to the fact that the actual lateral offset degree will be too large (another example where the actual lateral offset degree cannot meet the requirement of the expected lateral offset degree).
608、保持动力信息。608. Keep power information.
也就是说,当预测横向偏移程度已经既能够保证避开障碍物又保证车辆不超过所在车道的时候,不进行动力信息的调整。或者,可以理解为,按照预测横向偏移程度继续行驶,可以保证实际横向偏移程度满足期望横向偏移程度的需求,此时保持动力信息不变。That is to say, when the predicted lateral deviation degree can ensure that the obstacle is avoided and the vehicle does not exceed the lane, the dynamic information is not adjusted. Alternatively, it can be understood that, by continuing to drive according to the predicted lateral deviation degree, it can be ensured that the actual lateral deviation degree meets the requirement of the expected lateral deviation degree, and the power information is kept unchanged at this time.
609、调整动力信息,使得车辆不超出车道。609. Adjust the power information so that the vehicle does not exceed the lane.
也就是说,可以通过调整动力信息,使得过大的预测横向偏移程度减小,从而实际横向偏移程度会减小到可以满足期望横向偏移程度的需求。That is to say, by adjusting the dynamic information, the excessively large predicted lateral offset degree can be reduced, so that the actual lateral offset degree can be reduced to meet the requirement of the desired lateral offset degree.
需要说明的是,图6只是为了清楚呈现方案而提供的一种示例,也就是说,该方案是调整动力信息,使得预测横向偏移程度改变,从而保证车辆既能够避开障碍物又不超出车道边界的一种可能的示例。但在实际实现中,还可以存在其他方式,例如,图6先执行步骤605后执行步骤607,而在实际中,二者可以同时执行,也可以先执行步骤607,再执行步骤605。又例如图6只示例了执行一个轮次,但在实际中,步骤605至步骤609可以 不断重复执行,相当于不断修正车辆的前进轨迹使得道内横向避障得到保证。本申请不限定图6所提供的控制方法中各个步骤的执行顺序。It should be noted that Fig. 6 is only an example provided to clearly present the solution, that is to say, the solution is to adjust the power information so that the predicted lateral offset degree changes, so as to ensure that the vehicle can avoid obstacles and not exceed One possible example of lane boundaries. However, in actual implementation, there may also be other ways. For example, in FIG. 6 , step 605 is performed first and then step 607 is performed. For another example, Figure 6 only illustrates one round of execution, but in practice, steps 605 to 609 can be repeatedly executed, which is equivalent to constantly correcting the forward trajectory of the vehicle to ensure lateral obstacle avoidance in the lane. The present application does not limit the execution order of each step in the control method provided in FIG. 6 .
应理解,步骤604-609可以看作是通过调整动力信息使得实际横向偏移程度满足期望横向偏移程度的需求的一个实现方式,也就是说,借助于预测横向偏移程度来使得实际横向偏移程度满足期望横向偏移程度的需求,其中,步骤604用于得到预测横向偏移程度,步骤605-609则通过调整动力信息保证道内横向避障的执行,且步骤605-606对应的是预测横向偏移程度过小的情况,如果继续按照当前动力信息行驶会导致实际横向偏移程度过小(即实际横向偏移程度不满足期望横向偏移程度的一例),步骤607和609对应的是预测横向偏移程度过大的情况,如果继续按照当前动力信息行驶会导致实际横向偏移程度过大(即实际横向偏移程度不满足期望横向偏移程度的另一例),步骤608对应的是如果继续按照预测横向偏移程度行驶,已经可以使得实际横向偏移程度满足期望横向偏移程度的情况。It should be understood that steps 604-609 can be regarded as an implementation manner of adjusting the dynamic information so that the actual lateral offset degree meets the requirement of the desired lateral offset degree, that is, the actual lateral offset degree is made by means of the predicted lateral offset degree. The degree of displacement meets the requirements of the expected lateral offset degree, wherein step 604 is used to obtain the predicted lateral offset degree, steps 605-609 ensure the execution of lateral obstacle avoidance in the lane by adjusting the dynamic information, and steps 605-606 correspond to prediction In the case where the degree of lateral offset is too small, if continuing to drive according to the current power information, the actual degree of lateral offset will be too small (that is, an example where the actual degree of lateral offset does not meet the expected degree of lateral offset), steps 607 and 609 correspond to In the case of predicting that the degree of lateral offset is too large, if continuing to drive according to the current power information, the actual degree of lateral offset will be too large (that is, another example where the actual degree of lateral offset does not meet the expected degree of lateral offset), step 608 corresponds to If you continue to drive according to the predicted lateral deviation degree, it is already possible to make the actual lateral deviation degree meet the situation of the desired lateral deviation degree.
还需说明的是,在本申请实施例中,所有横向偏移除了可以利用横向偏移距离来表示以外,也可以利用横向偏移角度来表示,因此,可以将二者看作是横向偏移程度。举例说明,甲车辆横向偏移距离为1米,而此时甲车辆与原位置之间必定形成一定的角度,所以此时可以利用该角度来描述甲车辆的横向偏移程度。在本申请的方案中,对应于横向偏移距离的参数(或者说与可以用于唯一得到横向偏移距离的参数)都可以替代所述横向偏移距离,例如,第一阈值可以用于表示通过横向避障避开所述障碍物需要的最小横向偏移角度。It should also be noted that, in this embodiment of the present application, in addition to the lateral offset distance, all lateral offsets can also be expressed by the lateral offset angle. Therefore, the two can be regarded as lateral offsets. degree. For example, the lateral offset distance of vehicle A is 1 meter, and at this time, a certain angle must be formed between vehicle A and the original position, so this angle can be used to describe the degree of lateral offset of vehicle A. In the solution of the present application, the parameters corresponding to the lateral offset distance (or in other words, the parameters that can be used to uniquely obtain the lateral offset distance) can be substituted for the lateral offset distance. For example, the first threshold can be used to represent The minimum lateral offset angle required to avoid the obstacle by lateral obstacle avoidance.
在本申请实施例中,通过将避障方式进一步细分,并可以根据环境信息来控制车辆进行道内横向避障或道外横向避障,从而提高了整体的避障性能,例如可以保证辅助驾驶或者智能驾驶中的避障性能。In the embodiment of the present application, the obstacle avoidance method is further subdivided, and the vehicle can be controlled to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane according to the environmental information, thereby improving the overall obstacle avoidance performance, for example, it can ensure assisted driving or Obstacle avoidance performance in intelligent driving.
上文对本申请实施例的车辆的控制方法进行了介绍,下面对本申请实施例的车辆的控制装置进行介绍。应理解,下文中介绍的控制装置能够执行本申请实施例的控制方法的各个过程,下面在介绍装置的实施例时,会适当省略重复的描述。The control method of the vehicle according to the embodiment of the present application is described above, and the control device of the vehicle according to the embodiment of the present application is described below. It should be understood that the control device introduced below can execute each process of the control method of the embodiment of the present application, and the repeated description will be appropriately omitted when the embodiment of the device is introduced below.
图7是本申请实施例的控制装置的示意图。该装置2000包括获取单元2001和处理单元2002。该装置2000可以用于执行本申请实施例的车辆的控制方法的各步骤。例如,获取单元2001可以用于执行图2所示方法中的步骤201,处理单元2002可以用于执行图2所示方法中的步骤202。又例如,获取单元2001可以用于执行图6所示方法中的步骤601、步骤604,处理单元2002可以用于执行图6所示方法中的步骤602、步骤603、步骤605至步骤609。FIG. 7 is a schematic diagram of a control device according to an embodiment of the present application. The apparatus 2000 includes an acquisition unit 2001 and a processing unit 2002 . The apparatus 2000 can be used to execute each step of the vehicle control method according to the embodiment of the present application. For example, the acquiring unit 2001 may be configured to perform step 201 in the method shown in FIG. 2 , and the processing unit 2002 may be configured to perform step 202 in the method shown in FIG. 2 . For another example, the acquiring unit 2001 can be used to execute steps 601 and 604 in the method shown in FIG. 6 , and the processing unit 2002 can be used to execute steps 602 , 603 , 605 to 609 in the method shown in FIG. 6 .
上述装置2000可以为图4所示控制装置420,其中获取单元2001可以相当于获取单元421,处理单元2002可以相当于处理单元422。The foregoing apparatus 2000 may be the control apparatus 420 shown in FIG. 4 , wherein the obtaining unit 2001 may be equivalent to the obtaining unit 421 , and the processing unit 2002 may be equivalent to the processing unit 422 .
图8是本申请实施例的控制装置的示意图。该装置3000可以包括至少一个处理器3002和通信接口3003。FIG. 8 is a schematic diagram of a control device according to an embodiment of the present application. The apparatus 3000 may include at least one processor 3002 and a communication interface 3003 .
可选地,该装置3000还可以包括存储器3001和总线3004中的至少一项。其中,存储器3001、处理器3002和通信接口3003中的任意两项之间或全部三项之间均可以通过总线3004实现彼此之间的通信连接。Optionally, the apparatus 3000 may further include at least one of a memory 3001 and a bus 3004 . Wherein, any two or all three of the memory 3001 , the processor 3002 and the communication interface 3003 can be connected to each other through the bus 3004 for communication.
可选地,存储器3001可以是只读存储器(read only memory,ROM),静态存储设备, 动态存储设备或者随机存取存储器(random access memory,RAM)。存储器3001可以存储程序,当存储器3001中存储的程序被处理器3002执行时,处理器3002和通信接口3003用于执行本申请实施例的车辆的控制方法的各个步骤。也就是说,处理器3002可以通过通信接口3003从存储器3001获取存储的指令,以执行本申请实施例的车辆的控制方法的各个步骤。Optionally, the memory 3001 may be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (random access memory, RAM). The memory 3001 can store a program. When the program stored in the memory 3001 is executed by the processor 3002, the processor 3002 and the communication interface 3003 are used to execute various steps of the vehicle control method of the embodiment of the present application. That is to say, the processor 3002 may acquire stored instructions from the memory 3001 through the communication interface 3003 to execute various steps of the vehicle control method of the embodiment of the present application.
可选地,存储器3001可以具有图1所示存储器152的功能,以实现上述存储程序的功能。可选地,处理器3002可以采用通用的CPU,微处理器,ASIC,图形处理器(graphic processing unit,GPU)或者一个或多个集成电路,用于执行相关程序,以实现本申请实施例的控制装置中的单元所需执行的功能,或者执行本申请实施例的控制方法的各个步骤。Optionally, the memory 3001 may have the function of the memory 152 shown in FIG. 1 to realize the above-mentioned function of storing programs. Optionally, the processor 3002 may adopt a general-purpose CPU, a microprocessor, an ASIC, a graphics processing unit (graphic processing unit, GPU), or one or more integrated circuits, for executing related programs, so as to implement the functions of the embodiments of the present application. The functions that need to be performed by the units in the control device, or each step of the control method in the embodiment of the present application is performed.
可选地,处理器3002可以具有图1所示处理器151的功能,以实现上述执行相关程序的功能。Optionally, the processor 3002 may have the function of the processor 151 shown in FIG. 1 to realize the above-mentioned function of executing the related program.
可选地,处理器3002还可以是一种集成电路芯片,具有信号的处理能力。在实现过程中,本申请实施例的控制方法的各个步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。Optionally, the processor 3002 may also be an integrated circuit chip with signal processing capability. In the implementation process, each step of the control method of the embodiment of the present application may be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software.
可选地,上述处理器3002还可以是通用处理器、数字信号处理器(digital signal processing,DSP)、专用集成电路(ASIC)、现成可编程门阵列(field programmable gate array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成,或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器,闪存、只读存储器,可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器,处理器读取存储器中的信息,结合其硬件完成本申请实施例的车辆的控制装置中包括的单元所需执行的功能,或者执行本申请实施例的车辆的控制方法的各个步骤。Optionally, the above-mentioned processor 3002 may also be a general-purpose processor, a digital signal processor (digital signal processing, DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (field programmable gate array, FPGA) or other Programming logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory, and the processor reads the information in the memory and, in combination with its hardware, completes the functions required to be performed by the units included in the vehicle control device of the embodiment of the present application, or executes the functions of the vehicle control method of the embodiment of the present application. each step.
可选地,通信接口3003可以使用例如但不限于收发器一类的收发装置,来实现装置与其他设备或通信网络之间的通信。该通信接口3003例如还可以是接口电路。Optionally, the communication interface 3003 may use a transceiver device such as, but not limited to, a transceiver to implement communication between the device and other devices or a communication network. The communication interface 3003 may also be, for example, an interface circuit.
总线3004可包括在装置各个部件(例如,存储器、处理器、通信接口)之间传送信息的通路。The bus 3004 may include pathways for transferring information between various components of the device (eg, memory, processor, communication interface).
本申请实施例还提供一种包含指令的计算机程序产品,该指令被计算机执行时使得该计算机实现上述方法实施例中的方法。The embodiments of the present application further provide a computer program product including instructions, and when the instructions are executed by a computer, the instructions cause the computer to implement the methods in the foregoing method embodiments.
本申请实施例还提供一种终端,该终端包括上述任意一种控制装置,例如图7或图8所示控制装置等。An embodiment of the present application further provides a terminal, where the terminal includes any one of the above control devices, for example, the control device shown in FIG. 7 or FIG. 8 .
需要说明的是,上述终端中的控制装置可以用于控制车辆,但是本领域技术人员可知,在其他可能的场景下,该终端还可以为无人机或者机器人等可能的设备,即上述提到的“车辆”可以替换为“终端”,相应的,上述提到的道路结构以及道内和道外等信息,也可以替换为无人机或者机器人等终端所在的航线通道或者环境结构,以及基于上述航线通道或者环境结构所获取的道内和道外信息。具体的术语的功能和解释可以参考实际终端的类型和环境获取。本申请是以车辆为例进行阐述,但是该方案可以扩展到其他可能的终端类型。It should be noted that the control device in the above terminal can be used to control the vehicle, but those skilled in the art know that in other possible scenarios, the terminal can also be a possible device such as a drone or a robot, that is, the above mentioned The "vehicle" of the vehicle can be replaced with "terminal". Correspondingly, the above-mentioned road structure and information such as inside and outside the road can also be replaced with the route channel or environmental structure where the terminal such as drone or robot is located, and the route based on the above-mentioned route. Intra-channel and out-of-channel information captured by a channel or environmental structure. The functions and explanations of specific terms can be obtained by referring to the type and environment of the actual terminal. This application is described with a vehicle as an example, but the solution can be extended to other possible terminal types.
可选地,该终端还可以是对车辆进行远程控制的终端。也就是说,上述控制装置既可 以是安装在被控制的车辆上的,又可以是独立于被控车辆的,例如可以是利用无人机、其他车辆、机器人等来控制该被控车辆,在一些场景中,上述被控车辆同样还可以为无人机、机器人等其他设备。Optionally, the terminal may also be a terminal for remotely controlling the vehicle. That is to say, the above-mentioned control device may be installed on the controlled vehicle, or may be independent of the controlled vehicle. For example, the controlled vehicle may be controlled by a drone, other In some scenarios, the above-mentioned controlled vehicles can also be other devices such as drones and robots.
上述提供的任一种控制装置中相关内容的解释及有益效果均可参考上文提供的对应的方法实施例,此处不再赘述。For the explanation and beneficial effects of the relevant content in any of the control devices provided above, reference may be made to the corresponding method embodiments provided above, which will not be repeated here.
除非另有定义,本申请所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本申请中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本申请。Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used in this application in the specification of this application are for the purpose of describing specific embodiments only, and are not intended to limit the application.
本申请的各个方面或特征可以实现成方法、装置或使用标准编程和/或工程技术的制品。本申请中使用的术语“制品”可以涵盖可从任何计算机可读器件、载体或介质访问的计算机程序。例如,计算机可读介质可以包括但不限于:磁存储器件(例如,硬盘、软盘或磁带等),光盘(例如,压缩盘(compact disc,CD)、数字通用盘(digital versatile disc,DVD)等),智能卡和闪存器件(例如,可擦写可编程只读存储器(erasable programmable read-only memory,EPROM)、卡、棒或钥匙驱动器等)。Various aspects or features of the present application may be implemented as methods, apparatus, or articles of manufacture using standard programming and/or engineering techniques. The term "article of manufacture" as used in this application may encompass a computer program accessible from any computer-readable device, carrier or media. For example, computer readable media may include, but are not limited to, magnetic storage devices (eg, hard disks, floppy disks, or magnetic tapes, etc.), optical disks (eg, compact discs (CDs), digital versatile discs (DVDs), etc. ), smart cards and flash memory devices (eg, erasable programmable read-only memory (EPROM), cards, stick or key drives, etc.).
本申请描述的各种存储介质可代表用于存储信息的一个或多个设备和/或其它机器可读介质。术语“机器可读介质”可以包括但不限于:无线信道和能够存储、包含和/或承载指令和/或数据的各种其它介质。The various storage media described herein may represent one or more devices and/or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and/or carrying instructions and/or data.
需要说明的是,当处理器为通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件时,存储器(存储模块)可以集成在处理器中。It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, the memory (storage module) can be integrated in the processor.
还需要说明的是,本申请描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。It should also be noted that the memory described in this application is intended to include, but not be limited to, these and any other suitable types of memory.
本领域普通技术人员可以意识到,结合本申请中所公开的实施例描述的各示例的单元及步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的保护范围。Those of ordinary skill in the art can realize that the units and steps of each example described in conjunction with the embodiments disclosed in this application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each particular application, but such implementations should not be considered outside the scope of protection of this application.
所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,上述描述的装置和单元的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, for the specific working process of the above-described devices and units, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.
在本申请所提供的几个实施例中,应该理解到,所揭露的装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,所述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。此外,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, which may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
另外,在本申请各个实施例中的各功能单元可以集成在一个单元中,也可以是各个单 元单独物理存在,也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present application may be integrated into one unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请的技术方案本质上,或者说对现有技术做出贡献的部分,或者该技术方案的部分,可以以计算机软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,该计算机软件产品包括若干指令,该指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。前述的存储介质可以包括但不限于:U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a computer software product, and the computer software product is stored in a storage In the medium, the computer software product includes several instructions, the instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium may include, but is not limited to, various media that can store program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以所述权利要求的保护范围为准。The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (21)
- 一种控制方法,其特征在于,包括:A control method, comprising:获取车辆的环境信息,所述环境信息包括障碍物的信息和道路结构信息;Acquiring environmental information of the vehicle, the environmental information including obstacle information and road structure information;根据所述环境信息,控制所述车辆执行道内横向避障或者道外横向避障。According to the environmental information, the vehicle is controlled to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane.
- 如权利要求1所述的控制方法,其特征在于,所述环境信息用于指示第一距离和第一阈值,所述第一距离用于表示所述车辆与所在车道的边界之间的距离,所述第一阈值用于表示通过横向避障避开所述障碍物需要的最小横向偏移距离,所述根据所述环境信息,控制所述车辆执行道内横向避障或者道外横向避障,包括:The control method according to claim 1, wherein the environmental information is used to indicate a first distance and a first threshold, and the first distance is used to indicate a distance between the vehicle and the boundary of the lane where it is located, The first threshold is used to represent the minimum lateral offset distance required to avoid the obstacle through lateral obstacle avoidance, and the vehicle is controlled to perform lateral obstacle avoidance in the lane or lateral obstacle avoidance outside the lane according to the environmental information, including: :根据所述第一距离和所述第一阈值,控制所述车辆执行所述道内横向避障或者执行所述道外横向避障。According to the first distance and the first threshold, the vehicle is controlled to perform the in-lane lateral obstacle avoidance or the out-lane lateral obstacle avoidance.
- 如权利要求2所述的控制方法,其特征在于,所述根据所述第一距离和所述第一阈值,控制所述车辆执行所述道内横向避障或者执行所述道外横向避障,包括:The control method according to claim 2, wherein the controlling the vehicle to perform the in-lane lateral obstacle avoidance or the out-lane lateral obstacle avoidance according to the first distance and the first threshold value comprises: :当所述第一距离大于所述第一阈值时,控制所述车辆执行所述道内横向避障;或者When the first distance is greater than the first threshold, controlling the vehicle to perform the in-lane lateral obstacle avoidance; or当所述第一距离小于或者等于所述第一阈值时,控制所述车辆执行所述道外横向避障。When the first distance is less than or equal to the first threshold, the vehicle is controlled to perform the out-of-lane lateral obstacle avoidance.
- 如权利要求2或3的控制方法,其特征在于,所述障碍物的信息包括所述障碍物的类型的信息,所述第一阈值对应于所述障碍物的类型。The control method according to claim 2 or 3, wherein the information of the obstacle includes information of the type of the obstacle, and the first threshold value corresponds to the type of the obstacle.
- 如权利要求4所述的控制方法,其特征在于,所述第一阈值与所述障碍物的类型的对应关系是预先定义或者设置的,或者所述第一阈值可以根据所述障碍物的类型确定或者调整。The control method according to claim 4, wherein the corresponding relationship between the first threshold value and the type of the obstacle is predefined or set, or the first threshold value can be based on the type of the obstacle Confirm or adjust.
- 如权利要求1至5中任一项所述的控制方法,其特征在于,所述环境信息还用于指示第二距离和第二阈值,所述第二距离用于表示所述车辆与所述障碍物之间的纵向距离,所述第二阈值用于表示通过纵向避障避开所述障碍物需要的最小纵向距离,所述根据所述环境信息,控制所述车辆执行道内横向避障或者道外横向避障,包括:The control method according to any one of claims 1 to 5, wherein the environmental information is further used to indicate a second distance and a second threshold, and the second distance is used to indicate the distance between the vehicle and the The longitudinal distance between obstacles, the second threshold is used to represent the minimum longitudinal distance required to avoid the obstacles through longitudinal obstacle avoidance, and the vehicle is controlled to perform lateral obstacle avoidance in the lane or Off-track lateral obstacle avoidance, including:当第二距离小于或等于第二阈值时,控制所述车辆执行所述道内横向避障或执行所述道外横向避障。When the second distance is less than or equal to the second threshold, the vehicle is controlled to perform the in-lane lateral obstacle avoidance or the out-lane lateral obstacle avoidance.
- 如权利要求1至6中任一项所述的控制方法,其特征在于,所述方法还包括:The control method according to any one of claims 1 to 6, wherein the method further comprises:若确定执行所述道内横向避障的时间长度大于或等于预设时间阈值时,停止执行所述道内横向避障。If it is determined that the length of time for executing the in-lane lateral obstacle avoidance is greater than or equal to a preset time threshold, the execution of the in-lane lateral obstacle avoidance is stopped.
- 如权利要求1至7中任一项所述的控制方法,其特征在于,所述控制所述车辆执行道内横向避障,包括:The control method according to any one of claims 1 to 7, wherein the controlling the vehicle to perform lateral obstacle avoidance in a lane comprises:控制所述车辆执行道内横向避障,以使得实际横向偏移距离满足期望横向偏移距离的需求,所述期望横向偏移距离是通过所述环境信息得到的。The vehicle is controlled to perform in-lane lateral obstacle avoidance, so that the actual lateral offset distance meets the requirement of a desired lateral offset distance, and the desired lateral offset distance is obtained through the environmental information.
- 如权利要求8所述的控制方法,其特征在于,所述控制所述车辆执行道内横向避障,包括:The control method according to claim 8, wherein the controlling the vehicle to perform lateral obstacle avoidance in a lane comprises:调整所述车辆的动力信息以达到所述实际横向偏移距离,所述动力信息包括以下至少一种:角速度、方向盘转动角度、转向角和转矩。Dynamic information of the vehicle is adjusted to achieve the actual lateral offset distance, the dynamic information includes at least one of the following: angular velocity, steering wheel rotation angle, steering angle and torque.
- 一种控制装置,其特征在于,包括:A control device, characterized in that it includes:获取单元,用于获取车辆的环境信息,所述环境信息包括障碍物的信息和道路结构信息;an acquisition unit, configured to acquire environmental information of the vehicle, the environmental information includes information of obstacles and road structure information;处理单元,用于根据所述环境信息,控制所述车辆执行道内横向避障或者道外横向避障。The processing unit is configured to control the vehicle to perform lateral obstacle avoidance inside the lane or lateral obstacle avoidance outside the lane according to the environmental information.
- 如权利要求10所述的控制装置,其特征在于,所述环境信息用于指示第一距离和第一阈值,所述第一距离用于表示所述车辆与所在车道的边界之间的距离,所述第一阈值用于表示通过横向避障避开所述障碍物需要的最小横向偏移距离,所述处理单元具体用于:The control device according to claim 10, wherein the environmental information is used to indicate a first distance and a first threshold, and the first distance is used to indicate a distance between the vehicle and the boundary of the lane where it is located, The first threshold is used to represent the minimum lateral offset distance required to avoid the obstacle through lateral obstacle avoidance, and the processing unit is specifically used for:根据所述第一距离和所述第一阈值,控制所述车辆执行所述道内横向避障或者执行所述道外横向避障。According to the first distance and the first threshold, the vehicle is controlled to perform the in-lane lateral obstacle avoidance or the out-lane lateral obstacle avoidance.
- 如权利要求11所述的控制装置,其特征在于,所述处理单元具体用于:The control device according to claim 11, wherein the processing unit is specifically configured to:当所述第一距离大于所述第一阈值时,控制所述车辆执行所述道内横向避障;或者When the first distance is greater than the first threshold, controlling the vehicle to perform the in-lane lateral obstacle avoidance; or当所述第一距离小于或者等于所述第一阈值时,控制所述车辆执行所述道外横向避障。When the first distance is less than or equal to the first threshold, the vehicle is controlled to perform the out-of-lane lateral obstacle avoidance.
- 如权利要求11或12所述的控制装置,其特征在于,所述障碍物的信息包括所述障碍物的类型的信息,所述第一阈值对应于所述障碍物的类型。The control device according to claim 11 or 12, wherein the information of the obstacle includes information of the type of the obstacle, and the first threshold value corresponds to the type of the obstacle.
- 如权利要求13所述的控制装置,其特征在于,所述第一阈值与所述障碍物的类型的对应关系是预先定义或者设置的,或者所述第一阈值可以根据所述障碍物的类型确定或者调整。The control device according to claim 13, wherein the corresponding relationship between the first threshold value and the type of the obstacle is predefined or set, or the first threshold value can be based on the type of the obstacle Confirm or adjust.
- 如权利要求10至14中任一项所述的控制装置,其特征在于,所述环境信息还用于指示第二距离和第二阈值,所述第二距离用于表示所述车辆与所述障碍物之间的纵向距离,所述第二阈值用于表示通过纵向避障避开所述障碍物需要的最小纵向距离,所述处理单元具体用于:The control device according to any one of claims 10 to 14, wherein the environmental information is further used to indicate a second distance and a second threshold, and the second distance is used to indicate the distance between the vehicle and the The longitudinal distance between obstacles, the second threshold is used to represent the minimum longitudinal distance required to avoid the obstacles through longitudinal obstacle avoidance, and the processing unit is specifically used for:当第二距离小于或等于第二阈值时,控制所述车辆执行所述道内横向避障或执行所述道外横向避障。When the second distance is less than or equal to the second threshold, the vehicle is controlled to perform the in-lane lateral obstacle avoidance or the out-lane lateral obstacle avoidance.
- 如权利要求10至15中任一项所述的控制装置,其特征在于,所述处理单元还用于:The control device according to any one of claims 10 to 15, wherein the processing unit is further configured to:若确定执行所述道内横向避障的时间长度大于或等于预设时间阈值时,停止执行所述道内横向避障。If it is determined that the length of time for executing the in-lane lateral obstacle avoidance is greater than or equal to a preset time threshold, the execution of the in-lane lateral obstacle avoidance is stopped.
- 如权利要求10至16中任一项所述的控制装置,其特征在于,所述处理单元具体用于:The control device according to any one of claims 10 to 16, wherein the processing unit is specifically configured to:控制所述车辆执行道内横向避障,以使得实际横向偏移距离满足期望横向偏移距离的需求,所述期望横向偏移距离是通过所述环境信息得到的。The vehicle is controlled to perform in-lane lateral obstacle avoidance, so that the actual lateral offset distance meets the requirement of a desired lateral offset distance, and the desired lateral offset distance is obtained through the environmental information.
- 如权利要求17所述的控制装置,其特征在于,所述处理单元具体用于:The control device according to claim 17, wherein the processing unit is specifically configured to:调整所述车辆的动力信息以达到所述实际横向偏移距离,所述动力信息包括以下至少一种:角速度、方向盘转动角度、转向角和转矩。Dynamic information of the vehicle is adjusted to achieve the actual lateral offset distance, the dynamic information includes at least one of the following: angular velocity, steering wheel rotation angle, steering angle and torque.
- 一种芯片,其特征在于,所述芯片包括至少一个处理器与接口电路,所述至少一个处理器通过所述接口电路获取存储器上存储的指令,以执行如权利要求1至9中任一项 所述的控制方法。A chip, characterized in that the chip includes at least one processor and an interface circuit, and the at least one processor obtains instructions stored in a memory through the interface circuit to execute any one of claims 1 to 9 the described control method.
- 一种计算机可读存储介质,其特征在于,所述计算机可读介质存储用于设备执行的程序代码,该程序代码包括用于执行如权利要求1至9中任一项所述的控制方法的指令。A computer-readable storage medium, characterized in that the computer-readable medium stores a program code for device execution, the program code comprising a program code for executing the control method according to any one of claims 1 to 9 instruction.
- 一种终端,其特征在于,所述终端包括如权利要求10至18中任一项所述的控制装置。A terminal, characterized in that the terminal comprises the control device according to any one of claims 10 to 18.
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