CN110356394A - A kind of vehicle actively avoids the method, apparatus and automobile of barrier - Google Patents
A kind of vehicle actively avoids the method, apparatus and automobile of barrier Download PDFInfo
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- CN110356394A CN110356394A CN201910701956.7A CN201910701956A CN110356394A CN 110356394 A CN110356394 A CN 110356394A CN 201910701956 A CN201910701956 A CN 201910701956A CN 110356394 A CN110356394 A CN 110356394A
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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
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Abstract
The present invention relates to method, apparatus and automobile that a kind of vehicle actively avoids barrier, to realize the effect for actively being carried out barrier evacuation when barrier road occupying in front of vehicle driving.The method that the vehicle actively avoids barrier includes: when this vehicle is in driving mode in adaptive cruise mode and lane pair to drive at a constant speed state, and detection front occupies the barrier of this vehicle institute traveling lane with the presence or absence of part；If it exists, it is determined that the affiliated type of barrier；The first remaining transverse width when the affiliated type of the barrier is stationary obstruction, after determining this vehicle institute's traveling lane occupied by the stationary obstruction；The second remaining transverse width when the affiliated type of the barrier is moving obstacle, when determining that this vehicle is travelled to the position that may be collided, after this vehicle institute's traveling lane is occupied by the moving obstacle；According to the first remaining transverse width or the second remaining transverse width, the dynamic progress barrier evacuation of this car owner is controlled.
Description
Technical field
The present invention relates to car steering ancillary technique field, specifically a kind of vehicle actively avoids the method for barrier, dress
It sets and automobile.
Background technique
Automatic Pilot technology is discussed warmly by various fields in recent years, including the Internet companies such as Baidu, Tencent, Google, Huawei,
Also automatic Pilot technology is had made intensive studies, and the research achievement of making a breakthrough property, most representative masterpiece includes hundred
Spend the systems such as Apollopilot, Audi A8AI, tesla Autopilot.According to SAEJ3016 automatic Pilot grade scale, L3
And following scheme is defined as auxiliary and drives (ADAS), L4-L5 is defined as automatic Pilot.L2 and L2.5 (L2+) function exist at present
Major part vehicle realizes volume production both at home and abroad, and its permeability is just promoted increasingly, L3 function also will in the year two thousand twenty to 2022 gradually
Volume production.It can be seen that development foundation of the ancillary technique as automatic Pilot technology is driven, to full-automatic automatic Pilot technique functions
Very important effect.
It is well known that existing market mainstream automatic Pilot rank is L2,2019 end of the year L2.5 gradually push volume production to.L2 grades of function
Can be mainly comprising functions such as ACC, AEB, LKA, LCS, ACC, AEB-C&I, which are mainly stablized by single millimetre-wave radar and finished vehicle electronic, to be controlled
Molding block interaction schemes realize that major defect is to be improved to static target discrimination；AEB-P is mainly by 1R1V integration program
It realizes, optimizes the identification to static target, it is automatic to increase pedestrian's automatic emergency newly；LKA, LCS are mainly by intelligent video camera head and vehicle
Crosswise joint between lane line is realized in electronic power assist steering control module (EPS) interaction, and major defect is by hardware limitation, to target carriage
It cuts, to cut out operating condition limited.Nowadays market volume production automatic Pilot miscellaneous function, single existing automatic Pilot miscellaneous function,
By under the scene of barrier road occupying in front of this lane, active avoiding operation can not be carried out, and needs driver's pro-active intervention.
Summary of the invention
The object of the present invention is to provide method, apparatus and automobile that a kind of vehicle actively avoids barrier, to realize
The effect of barrier evacuation is actively carried out when barrier road occupying in front of vehicle driving.
The technical solution of the present invention is as follows:
The present invention provides a kind of methods that vehicle actively avoids barrier, comprising:
When this vehicle is in driving mode in adaptive cruise mode and lane pair to drive at a constant speed state, detection front is
The no barrier that this vehicle institute traveling lane is occupied in the presence of part；
If it exists, it is determined that the affiliated type of barrier；
When the affiliated type of the barrier is stationary obstruction, determine this vehicle institute's traveling lane by the stationary obstruction
The first remaining transverse width after occupied；
When the affiliated type of the barrier is moving obstacle, determine that this vehicle is travelled to the position that may be collided
When, this vehicle institute's traveling lane occupied by the moving obstacle after the second remaining transverse width；
According to the described first remaining transverse width or the second remaining transverse width, controls the dynamic barrier that carries out of this car owner and keep away
It allows.
Preferably, the step of determining the barrier affiliated type include:
Detect the barrier and this vehicle relative velocity size whether with this vehicle absolute velocity is equal in magnitude over the ground；
If equal, it is determined that the affiliated type of barrier is stationary obstruction；
It is on the contrary, it is determined that the affiliated type of barrier is moving obstacle.
Preferably, when the affiliated type of the barrier is stationary obstruction, determine this vehicle institute's traveling lane by described quiet
The step of the first remaining transverse width after only barrier is occupied includes:
There are two stationary obstructions being partly or entirely oppositely arranged in the two sides of Ruo Benche institute traveling lane, it is determined that described
First remaining transverse width is the most short lateral distance between two stationary obstructions；
If only there is a stationary obstruction in the side of this vehicle institute traveling lane, it is determined that described first is remaining laterally wide
Spend the most short lateral distance between the other side lane line on the barrier and this vehicle institute traveling lane, other side lane line
Refer to the side lane line on this vehicle institute traveling lane far from the stationary obstruction.
Preferably, according to the described first remaining transverse width, controlling this car owner dynamic the step of carrying out barrier evacuation includes:
Judge whether the described first remaining transverse width is the width that this vehicle can be made to pass through；
If, then using the center line of the described first remaining transverse width as the lane center of this vehicle institute traveling lane,
Again it plans the driving path of this vehicle, and controls this vehicle and travelled according to the driving path planned, keep the dynamic progress of this car owner static
Barrier evacuation；
If not then being determined according to the speed of most short fore-and-aft distance and Ben Che between Ben Che and the stationary obstruction
First braking deceleration a of this vehicle in the first predetermined amount of time1, and this vehicle is controlled according to the first braking deceleration a1Into
Row braking deceleration traveling.
Preferably, when the affiliated type of the barrier is moving obstacle, determine that this vehicle is travelled to may collide
Position when, this vehicle institute's traveling lane occupied by the moving obstacle after the second remaining transverse width the step of include:
Judge whether the two sides of this vehicle institute traveling lane have partly or entirely opposite and the traveling that remains a constant speed two fortune
Dynamic barrier；
If it exists, it is determined that Ben Che may collide with moving obstacle described in one of them, and required first is most short to be touched
It hits the time and two moving obstacles horizontally collides the most short collision time of required second, described in one of them
Moving obstacle refers to the moving obstacle that may preferentially collide in the longitudinal direction with this vehicle, and
It determines in the arrival of the described first most short collision time or when the arrival of the described second most short collision time, described in two
Most short lateral distance between moving obstacle is the described second remaining width；
If only having a moving obstacle of the traveling that remains a constant speed in the side of this vehicle institute traveling lane, it is determined that this vehicle
It may collide the most short collision time of required third with the moving obstacle, and
Determine the third most short collision time reach when, the moving obstacle with it is another on this vehicle institute traveling lane
Most short lateral distance between the lane line of side is the described second remaining width, and other side lane line refers to this vehicle institute traveling lane
The upper side lane line far from the moving obstacle.
Preferably, if the trend that horizontally there is two moving obstacles relatively close vehicle to travel, this is determined
One of them nearest described moving obstacle of vehicle and fore-and-aft distance may collide the most short collision time of required first
Step includes:
According to formula:
When determining the first collision that this vehicle may collide with the right side motion collision object for being located at this vehicle institute traveling lane
Between Δt1, wherein most short fore-and-aft distance of the X between Ben Che and right side moving obstacle, vAFor the speed of this vehicle, vCXIt is described
The longitudinal velocity of right side motion collision object；
According to formula:
Determine the second collision time that the left side motion collision object of this Che Yuben vehicle institute traveling lane may collide
Δt2, wherein most short fore-and-aft distance of the X between Ben Che and left side moving obstacle, vAFor the speed of this vehicle, vBXFor the left side
The longitudinal velocity of side motion collision object；
By the first collision time Δt1With the second collision time Δt2A shorter collision time of middle duration is true
It is set to the described first most short collision time；
Determine two moving obstacles horizontally collide the most short collision time of required second the step of packet
It includes:
According to formula:
Determine that the left side motion collision object for being located at this vehicle institute traveling lane is moved with the right side for being located at this vehicle institute traveling lane
Collision object collides the most short collision time Δ of required secondt3, wherein Y is most short between two moving obstacles
Lateral distance, vBYFor the lateral movement velocity of the left side motion collision object, vCYFor the transverse direction fortune of the right side motion collision object
Dynamic speed.
Preferably, determine the described first most short collision time reach when or the described second most short collision time reach when,
The step of most short lateral distance between two moving obstacles is the described second remaining width include:
If the duration of the described first most short collision time is less than the duration of the described second most short collision time, it is determined that in institute
Most short lateral distance when stating the arrival of the first most short collision time, between two moving obstacles is described second remaining wide
Degree；
If the duration of the described first most short collision time is greater than or equal to the duration of the described second most short collision time, really
Most short lateral distance when being scheduled on the arrival of the described second most short collision time, between two moving obstacles is described second
Remaining width, the described second remaining width is zero at this time.
Preferably, determine when the described first most short collision time reaches, between two moving obstacles most
When short lateral distance is the described second remaining width, according to the described second remaining transverse width, the dynamic progress obstacle of this car owner is controlled
Object avoid the step of include:
Judge whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
If, then using the center line of the described second remaining transverse width as the lane center of this vehicle institute traveling lane,
Again it plans the driving path of this vehicle, and controls this vehicle and travelled according to the driving path planned, make this car owner is dynamic to be moved
Barrier evacuation；
If not, it is determined that second braking deceleration a of this vehicle in the second predetermined amount of time2, and control this vehicle according to
The second braking deceleration a2Carry out Reduced Speed Now；
Wherein, the second braking deceleration a2Pass through formula:
It calculates and obtains, most short fore-and-aft distance of the X between Ben Che and one of them described moving obstacle, vAFor this vehicle
Speed, vEXFor the longitudinal velocity of motion collision object described in one of them, t0For the safe time interval of calibration, described second
Predetermined amount of time is the safe time interval t of the described first most short collision time and calibration0Difference.
Preferably, determine when the described second most short collision time reaches, between two moving obstacles most
When short lateral distance is the described second remaining width, according to the described second remaining transverse width, the dynamic progress obstacle of this car owner is controlled
Object avoid the step of include:
Determine third braking deceleration a of this vehicle in third predetermined amount of time3, and this vehicle is controlled according to the third system
Dynamic deceleration a3Carry out Reduced Speed Now；
Wherein, the third braking deceleration a3Pass through formula:
It calculates and obtains, X is the most short fore-and-aft distance between Ben Che and two moving obstacle, vAFor the vehicle of this vehicle
Speed, vEXFor the longitudinal velocity of motion collision object described in one of them, t0For the safe time interval of calibration, the third is pre-
Section of fixing time is the described second most short collision time Δt3With the safe time interval t of calibration0Difference.
Preferably, if only having a moving obstacle and one for the traveling that remains a constant speed in the side of this vehicle institute traveling lane
The trend that horizontally there is a moving obstacle relatively close vehicle to travel determines that this vehicle and the moving obstacle can
The step of most short collision time of required second that can collide includes:
According to formula:
Determine the most short collision time Δ of third that this vehicle and a motion collision object may collidet4, wherein Z
Most short fore-and-aft distance between Ben Che and the moving obstacle, vAFor the speed of this vehicle, vDXFor the motion collision object
Movement velocity.
Preferably, according to the described second remaining transverse width, controlling this car owner dynamic the step of carrying out barrier evacuation includes:
Judge whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
If, then using the center line of the described second remaining transverse width as the lane center of this vehicle institute traveling lane,
Again it plans the driving path of this vehicle, and controls this vehicle and travelled according to the driving path planned, make this car owner is dynamic to be moved
Barrier evacuation；
If not, it is determined that the 4th braking deceleration a in four predetermined amount of time of this Che4, and control this vehicle according to
The 4th braking deceleration a4Carry out Reduced Speed Now；
Wherein, the 4th braking deceleration a4Pass through formula:
It calculates and obtains, Z is the most short fore-and-aft distance between Ben Che and moving obstacle, vAFor the vehicle of this vehicle
Speed, vDXFor the longitudinal velocity of the motion collision object, t0For the safe time interval of calibration, the 4th predetermined amount of time
For the most short collision time Δ of the thirdt4With the safe time interval t of calibration0Difference.
According to another aspect of the present invention, the present invention also provides the devices that a kind of vehicle actively avoids barrier, comprising:
Detection module, for being in driving mode in adaptive cruise mode and lane pair in this vehicle to drive at a constant speed state
When, detection front occupies the barrier of this vehicle institute traveling lane with the presence or absence of part；
First determining module, for if it exists, it is determined that the affiliated type of barrier；
Second determining module, for determining this vehicle institute Travel vehicle when the affiliated type of the barrier is stationary obstruction
Road occupied by the stationary obstruction after the first remaining transverse width；
Third determining module, for determining that this vehicle is travelled to can when the affiliated type of the barrier is moving obstacle
The second remaining transverse width when the position that can be collided, after this vehicle institute's traveling lane is occupied by the moving obstacle；
Control module, for it is dynamic to control this car owner according to the described first remaining transverse width or the second remaining transverse width
Carry out barrier evacuation.
Preferably, first determining module includes:
Detection unit, for detect the barrier and this vehicle relative velocity size whether with this vehicle absolute velocity is big over the ground
It is small equal；
First determination unit, if for equal, it is determined that the affiliated type of barrier is stationary obstruction；
Second determination unit, on the contrary, it is determined that the affiliated type of barrier is moving obstacle.
Preferably, the second determining module includes:
Third determination unit, the two sides for Ruo Benche institute traveling lane have partly or entirely be oppositely arranged two it is static
Barrier, it is determined that the described first remaining transverse width is the most short lateral distance between two stationary obstructions；
4th determination unit, if for only to there is a stationary obstruction in the side of this vehicle institute traveling lane, it is determined that
Most hyphen of the described first remaining transverse width between the other side lane line on the barrier and this vehicle institute traveling lane
To distance, other side lane line refers to the side lane line on this vehicle institute traveling lane far from the stationary obstruction.
Preferably, the control module includes:
First judging unit, for judging whether the described first remaining transverse width is the width that this vehicle can be made to pass through；
First control unit, for if then being travelled using the center line of the described first remaining transverse width as this vehicle
The lane center in lane, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, makes
This car owner is dynamic to carry out stationary obstruction evacuation；
Second control unit, if not for then according to the most short fore-and-aft distance between Ben Che and the stationary obstruction
With the speed of this vehicle, first braking deceleration a of this vehicle in the first predetermined amount of time is determined1, and this vehicle is controlled according to described
First braking deceleration a1Carry out braking deceleration traveling.
Preferably, third determining module includes:
Second judgment unit, for judging whether the two sides of this vehicle institute traveling lane have partly or entirely opposite and keep
Two moving obstacles driven at a constant speed；
5th determination unit, for if it exists, it is determined that Ben Che and one of them described moving obstacle collide institute
Need the first most short collision time and two moving obstacles horizontally collide the most short collision of required second when
Between, one of them described moving obstacle refers to the moving obstacle that may preferentially collide in the longitudinal direction with this vehicle,
And
It determines in the arrival of the described first most short collision time or when the arrival of the described second most short collision time, described in two
Most short lateral distance between moving obstacle is the described second remaining width；
6th determination unit, if for only having a movement of the traveling that remains a constant speed in the side of this vehicle institute traveling lane
Barrier, it is determined that Ben Che and the moving obstacle may collide the most short collision time of required third, and
Determine the third most short collision time reach when, the moving obstacle with it is another on this vehicle institute traveling lane
Most short lateral distance between the lane line of side is the described second remaining width, and other side lane line refers to this vehicle institute traveling lane
The upper side lane line far from the moving obstacle.
Preferably, the 5th determination unit includes:
First determines subelement, for according to formula:
When determining the first collision that this vehicle may collide with the right side motion collision object for being located at this vehicle institute traveling lane
Between Δt1, wherein most short fore-and-aft distance of the X between Ben Che and right side moving obstacle, vAFor the speed of this vehicle, vCXIt is described
The longitudinal velocity of right side motion collision object,
Second determines subelement, for according to formula:
Determine the second collision time that the left side motion collision object of this Che Yuben vehicle institute traveling lane may collide
Δt2, wherein most short fore-and-aft distance of the X between Ben Che and left side moving obstacle, vAFor the speed of this vehicle, vBXFor the left side
The longitudinal velocity of side motion collision object；
Third determines subelement, is used for the first collision time Δt1With the second collision time Δt2Middle duration
A shorter collision time is determined as the described first most short collision time；
4th determines subelement, for according to formula:
Determine that the left side motion collision object for being located at this vehicle institute traveling lane is moved with the right side for being located at this vehicle institute traveling lane
Collision object collides the most short collision time Δ of required secondt3, wherein Y is most short between two moving obstacles
Lateral distance, vBYFor the lateral movement velocity of the left side motion collision object, vCYFor the transverse direction fortune of the right side motion collision object
Dynamic speed.
Preferably, the 5th determination unit includes:
5th determines subelement, if the duration for the described first most short collision time is less than the described second most short collision
Between duration, it is determined that when the described first most short collision time reaches, the most hyphen between two moving obstacles to
Distance is the described second remaining width；
6th determines subelement, if the duration for the described first most short collision time is most short more than or equal to described second
The duration of collision time, it is determined that when the described second most short collision time reaches, between two moving obstacles most
Short lateral distance is the described second remaining width, and the described second remaining width is zero.
Preferably, determine when the described first most short collision time reaches, between two moving obstacles most
When short lateral distance is the described second remaining width, control module includes:
Third judging unit, for judging whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
Third control unit, for if then being travelled using the center line of the described second remaining transverse width as this vehicle
The lane center in lane, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, makes
This car owner is dynamic to carry out moving obstacle evacuation；
4th control unit, if not for, it is determined that second braking deceleration of this vehicle in the second predetermined amount of time
a2, and this vehicle is controlled according to the second braking deceleration a2Carry out Reduced Speed Now；
Wherein, the second braking deceleration a2Pass through formula:
It calculates and obtains, most short fore-and-aft distance of the X between Ben Che and one of them described moving obstacle, vAFor this vehicle
Speed, vEXFor the longitudinal velocity of motion collision object described in one of them, t0For the safe time interval of calibration, described second
Predetermined amount of time is the safe time interval t of the described first most short collision time and calibration0Difference.
Determine when the described second most short collision time reaches, the most hyphen between two moving obstacles to away from
When from for the described second remaining width, according to the described second remaining transverse width, control module includes:
5th control unit, for determining third braking deceleration a of this vehicle in third predetermined amount of time3, and control
This vehicle is according to the third braking deceleration a3Carry out Reduced Speed Now；
Wherein, the third braking deceleration a3Pass through formula:
It calculates and obtains, most short fore-and-aft distance of the X between Ben Che and one of them described moving obstacle, vAFor this vehicle
Speed, vEXFor the longitudinal velocity of motion collision object described in one of them, t0For the safe time interval of calibration, the third
Predetermined amount of time is the described second most short collision time Δt3With the safe time interval t of calibration0Difference.
Preferably, if only having a moving obstacle and one for the traveling that remains a constant speed in the side of this vehicle institute traveling lane
The trend that horizontally there is a moving obstacle relatively close vehicle to travel, the 6th determination unit include:
7th determines subelement, for according to formula:
Determine the most short collision time Δ of third that this vehicle and a motion collision object may collidet4, wherein Z
Most short fore-and-aft distance between Ben Che and the moving obstacle, vAFor the speed of this vehicle, vDXFor the motion collision object
Movement velocity.
Preferably, control module includes:
7th determination unit, for judging whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
6th control unit, for if then being travelled using the center line of the described second remaining transverse width as this vehicle
The lane center in lane, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, makes
This car owner is dynamic to carry out moving obstacle evacuation；
7th control unit, if not for, it is determined that the third braking deceleration in four predetermined amount of time of this Che
a3, and this vehicle is controlled according to the 4th braking deceleration a4Carry out Reduced Speed Now；
Wherein, the 4th braking deceleration a4Pass through formula:
It calculates and obtains, Z is the most short fore-and-aft distance between Ben Che and moving obstacle, vAFor the vehicle of this vehicle
Speed, vDXFor the longitudinal velocity of the motion collision object, t0For the safe time interval of calibration, the 4th predetermined amount of time
For the most short collision time Δ of the thirdt4With the safe time interval t of calibration0Difference.
According to another aspect of the present invention, the present invention also provides a kind of automobiles, and including above-mentioned vehicle, actively evacuation hinders
Hinder the device of object.
The invention has the benefit that
By the determination of the remaining width on this vehicle after being occupied to barrier, judge vehicle whether can normal pass, and
Can normal pass when passage path plan, enable the vehicle to through the barrier section, realize vehicle actively evacuation barrier
Hinder the effect of object；When vehicle is unable to normal pass, by controlling vehicle active brake, guarantee safe driving of vehicle.
Detailed description of the invention
Fig. 1 is method flow schematic diagram of the invention；
Fig. 2 is the flow diagram of step 102；
Fig. 3 is the procedure Procedure figure of step 104；
Fig. 4 is the procedure Procedure figure of step 105；
Fig. 5 is the procedure Procedure figure of step 105；
Fig. 6 is the procedure Procedure figure of step 105；
Fig. 7 is arrangement block diagram of the vehicle on road in scene 1；
Fig. 8 is arrangement block diagram of the vehicle on road in scene 2.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
In the present invention, realize that intelligence actively avoids barrier using millimetre-wave radar existing on vehicle and camera fusion
Effect, specifically, using 1 central control module DAS, 1 preposition radar FR, 1 front camera FC and 2 anterior angles
The framework of radar FLC and FRC when having barrier road occupying in front of this vehicle institute traveling lane, automatically control vehicle and are added and subtracted
The safety operations such as speed, steering are to realize that the active to barrier or vehicle avoids.The barrier that FR, FC, FLC and FRC are exported
Detection information, filter information, which are exported by CAN interface to central control module, carries out data fusion, in conjunction with EPS module, ESP mould
The controller informations such as block and wheel speed sensors calculate vehicle program driving trace in real time, so that judgement collides with objects ahead
A possibility that and possible point of collision.
In order to realize that the present processes, each functional module of the application specifically include: environmental perception module includes upper
The FR/FC/FLC/FRC module stated, according to the collected data of these modules institute carry out barrier judgment, obstacle identity is sentenced
Disconnected and barrier speed, the azimuth of barrier, the lateral displacement between barrier are vertical between Ben Che and barrier
To acquisition of information such as displacements.
Execution module includes: EPS turns to executing agency, realizes Vehicular turn control；EPBi brake actuator, can
Realize acceleration and deceleration and parking control；EMS engine management system；HMI interactive system: including instrument, car entertainment audio-video system
Deng.
Central control module, each information perceived according to environmental perception module, to carry out judgement processing, Jin Erjin
Row Decision Control, path planning etc., and each execution signal is sent to by each execution module by gateway GW.
Referring to Fig.1, in the present invention, a kind of method that vehicle actively avoids barrier is provided, this method is based on center control
Molding block carries out processing control, comprising:
Step 1, when this vehicle is in driving mode in adaptive cruise mode and lane pair to drive at a constant speed state, detection
Front occupies the barrier of this vehicle institute traveling lane with the presence or absence of part.
Wherein, barrier includes the moving obstacle type being kept in motion, for example, moving vehicle, pedestrian, animal
Deng, and the stationary obstruction type to remain static, such as temporary road occupation construction marker, curb, stationary road-side vehicle etc..
The barrier of vehicle front can be detected by preposition radar FR induction module existing on this vehicle, together
When, can use FC visual sensing module existing on vehicle detect a left side for this vehicle institute traveling lane, this vehicle institute traveling lane/
The affiliated type of barrier of the left/right third lane of right adjacent lane and this vehicle institute traveling lane.
Step 102, and if it exists, then determine the affiliated type of the barrier.
The barrier data detected according to FC visual sensing module, determine that vehicle front whether there is to this Che Suohang
The barrier sailing lane portion or all occupying.
Further, by collected of the preposition radar FR induction module that is arranged on vehicle institute between vehicle and barrier
Relative velocity determine the barrier type.Specifically, such as Fig. 2, can be hindered according to the following steps
Species type is hindered to determine:
Step 201, detect the barrier and this vehicle relative velocity size whether with this vehicle absolute velocity size phase over the ground
Deng；
Step 202, if equal, it is determined that the affiliated type of barrier is stationary obstruction；
Step 203, on the contrary, it is determined that the affiliated type of barrier is moving obstacle；
Wherein, in step 201, the barrier and this vehicle can be calculated according to millimetre-wave radar Doppler effect
Relative velocity, absolute velocity can calculate output by ESP sensing module to this vehicle over the ground, two velocity magnitudes be compared, if relative velocity
Equal to this vehicle absolute velocity, it is determined that the barrier is stationary obstruction；It is on the contrary then determine the barrier be dyskinesia
Object.
Step 103, when the affiliated type of the barrier is stationary obstruction, determine this vehicle institute's traveling lane by described quiet
The first remaining transverse width after only barrier is occupied.
Wherein, for stationary obstruction, when its part occupies this vehicle institute traveling lane, there is this vehicles to be travelled
The left and right sides in lane is occupied simultaneously, alternatively, the only occupied situation in side.
Be directed to this vehicle institute traveling lane the left and right sides simultaneously occupied scene, it should be determined that the left and right sides it is static
Whether barrier is some or all of to be oppositely arranged, which can be acquired by FC visual sensing module existing on vehicle
The data arrived carry out image recognition, to determine whether the stationary obstruction of the left and right sides is partly or entirely oppositely arranged, for example,
In FC visual sensing module acquired image, if left and right sides stationary obstruction is located at the part in this vehicle institute traveling lane
There is a situation where that part is located on same x wire, then it is static can to determine that the presence left and right sides is partly or entirely oppositely arranged
Barrier.Conversely, such case if it does not exist, then can determining this vehicle institute traveling lane, only side is occupied.
Wherein, which includes:
There are two stationary obstructions being partly or entirely oppositely arranged in the two sides of Ruo Benche institute traveling lane, it is determined that described
First remaining transverse width is the most short lateral distance between two stationary obstructions；
Two stationary obstructions that the two sides of Ruo Benche institute traveling lane are not oppositely arranged partly or entirely, it is determined that institute
State most hyphen of the first remaining transverse width between the other side lane line on the barrier and this vehicle institute traveling lane to
Distance, other side lane line refer to the side lane line on this vehicle institute traveling lane far from the stationary obstruction.
In order to the lateral distance between barrier and barrier and between barrier and lane line laterally away from
From being detected, fusion calculation acquisition mainly is carried out by data detected by each induction module.
Step 104, when the affiliated type of the barrier is moving obstacle, determine that this vehicle is travelled to may collide
Position when, this vehicle institute's traveling lane occupied by the moving obstacle after the second remaining transverse width.
The position that this vehicle may collide with moving obstacle refers to, this vehicle from current location travel to dyskinesia
The position that longitudinally opposed distance between object is zero.At this location, this vehicle can not necessarily collide with moving obstacle, because
It is to travel between two parties for this vehicle, if the remaining width in lane that this vehicle is exercised can satisfy vehicle pass-through, then this vehicle then can avoid
It collides between moving obstacle.
It travels in this vehicle to the position that may be collided with moving obstacle, there is two kinds of situations, one kind is fortune
Dynamic barrier horizontally has the trend of this close vehicle, and during this vehicle traveling, moving obstacle moves closer to this vehicle
Traveling, after this vehicle is travelled to the position, remains further to the transitable horizontal space of this vehicle on this vehicle institute traveling lane
It reduces；Another does not have the trend of this close vehicle horizontally for moving obstacle, during this vehicle traveling, movement
Barrier continued rectilinear travels, and keeps for the transitable horizontal space of this vehicle constant on this vehicle institute traveling lane.In view of this two
Kind situation, in the present embodiment, the solution for the second remaining transverse width also includes two ways, and one kind is dyskinesia
Object does not have the trend close to this vehicle, and another kind is moving obstacle with the movement tendency close to this vehicle.
Specifically, referring to Fig. 3, which includes:
Step 301, judge whether the two sides of this vehicle institute traveling lane have the partly or entirely opposite and traveling that remains a constant speed
Two moving obstacles.
Similarly, whether two moving obstacles are partly or entirely opposite, can come according to the judgment criteria of stationary obstruction
Judged, i.e., according to the collected data of FC visual sensing module institute, image recognition is carried out, to determine the static of the left and right sides
Whether barrier is partly or entirely oppositely arranged.Wherein, it drives at a constant speed and refers to that two moving obstacles respectively remain a constant speed traveling
State, two respective movement velocitys of moving obstacle might not be identical.
Step 302, and if it exists, then determine this vehicle and one of them described moving obstacle may collide required the
One most short collision time and two moving obstacles horizontally collide the most short collision time of required second, wherein
One moving obstacle refers to the moving obstacle that may preferentially collide in the longitudinal direction with this vehicle；And
It determines in the arrival of the described first most short collision time or when the arrival of the described second most short collision time, described in two
Most short lateral distance between moving obstacle is the described second remaining width.
In step 302, it is directed to trend such case that two moving obstacles all have laterally adjacent vehicle,
According to formula:
When determining the first collision that this vehicle may collide with the right side motion collision object for being located at this vehicle institute traveling lane
Between Δt1, wherein most short fore-and-aft distance of the X between Ben Che and right side moving obstacle, vAFor the speed of this vehicle, vCXIt is described
The longitudinal velocity of right side motion collision object；
According to formula:
Determine the second collision time that the left side motion collision object of this Che Yuben vehicle institute traveling lane may collide
Δt2, wherein most short fore-and-aft distance of the X between Ben Che and left side moving obstacle, vAFor the speed of this vehicle, vBXFor the left side
The longitudinal velocity of side motion collision object；
By the first collision time Δt1With the second collision time Δt2A shorter collision time of middle duration is true
It is set to the described first most short collision time.
Determine two moving obstacles horizontally collide the most short collision time of required second the step of packet
It includes:
According to formula:
Determine that the left side motion collision object for being located at this vehicle institute traveling lane is moved with the right side for being located at this vehicle institute traveling lane
Collision object collides the most short collision time Δ of required secondt3, wherein Y is most short between two moving obstacles
Lateral distance, vBYFor the lateral movement velocity of the left side motion collision object, vCYFor the transverse direction fortune of the right side motion collision object
Dynamic speed.
Wherein, when moving obstacle is vehicle, in above-mentioned the separate equations, the lateral movement velocity of moving obstacle is
Refer to that the transverse movement speed of vehicle, the longitudinal velocity of moving obstacle refer to the longitudinal movement speed of vehicle.
Wherein, Y is the most short lateral distance between two moving obstacles, vBYFor the left side motion collision object
Lateral movement velocity, vCYFor the lateral movement velocity of the right side motion collision object, vCXFor the vertical of the right side motion collision object
To movement velocity, these parameters can be in conjunction with the left-front corner radar for the preposition radar FR induction module and this vehicle arranged on this vehicle
FLC induction module and the right anterior angle radar FRC induction module collected data of institute determine.
Wherein it is determined that the described first most short collision time reach when or the described second most short collision time reach when, two
The step of most short lateral distance between a moving obstacle is the described second remaining width include:
If the duration of the described first most short collision time is less than the duration of the described second most short collision time, it is determined that in institute
When stating the arrival of the first most short collision time, the most short lateral distance between two moving obstacles is described second remaining wide
Degree, calculates the lateral displacement Y in the most short collision time of two moving obstacles each comfortable firstCAnd YB, for example, determine this
One collision time Δt1Less than the second collision time Δt2When, then YB=vBY·Δt1And YC=vCY·Δt1, can Y- by formula
(YB+YC) calculate the second remaining width.
If the duration of the described first most short collision time is greater than or equal to the duration of the described second most short collision time, really
Most short lateral distance when being scheduled on the arrival of the described second most short collision time, between two moving obstacles is second remaining
Width, the second remaining width is zero；The most short collision time Δ of two moving obstacles each comfortable secondt3The sum of interior lateral displacement
As Y.
It is directed to trend such case that two moving obstacles do not have laterally adjacent vehicle, due to moving obstacle
It is not subjected to displacement horizontally, which is that preposition radar FR fusion front camera FC induction module is initial
The minimal transverse distance between two moving obstacles detected.
Step 303, if only having a moving obstacle of the traveling that remains a constant speed in the side of this vehicle institute traveling lane,
It determines this vehicle and the moving obstacle may collide the most short collision time of required third, and determine in the third
The most hyphen between the lane line of other side when most short collision time reaches, on the moving obstacle and this vehicle institute traveling lane
It is the described second remaining width to distance, other side lane line refers to the separate moving obstacle on this vehicle institute traveling lane
Side lane line.
In step 303, if being directed to only has a fortune of the traveling that remains a constant speed in the side of this vehicle institute traveling lane
Dynamic barrier and a moving obstacle have trend such case of laterally adjacent vehicle,
According to formula:
Determine the most short collision time Δ of third that this vehicle and a motion collision object may collidet4, wherein Z
Most short fore-and-aft distance between Ben Che and moving obstacle, vAFor the speed of this vehicle, vDXFor the motion collision
The longitudinal velocity of object, when moving obstacle is vehicle, the longitudinal velocity of moving obstacle is longitudinal fortune of vehicle
Motor-car speed.
Wherein, lateral displacement Y of the moving obstacle in the most short collision time of thirdD=vDY·Δt4, pass through formula
Y-YDCalculate the second remaining width, wherein Y is the other side on a moving obstacle and this vehicle institute traveling lane
Most short lateral distance between lane line, vDYFor the lateral movement velocity of a moving obstacle, YDHinder for a movement
Hinder the transverse movement displacement in the most short collision time section of third of object.Z,vDX、vDYIt can be in conjunction with the preposition thunder arranged on this vehicle
Left-front corner radar FLC induction module or right anterior angle radar FRC induction module institute up to FR induction module and this vehicle is collected
Data determine.
And do not have trend such case close to this vehicle for a moving obstacle, since moving obstacle is in transverse direction
On be not subjected to displacement, which is that preposition radar FR fusion front camera FC induction module initial detecting arrives
The moving obstacle and this vehicle institute traveling lane on other side lane line between minimal transverse distance.
It is directed to one of them trend with laterally adjacent vehicle of two uniform motion barriers, and another does not have
Such case of the trend of laterally adjacent vehicle, control strategy only have laterally adjacent vehicle trend in side referring to step 303
A moving obstacle the case where, unique difference be the described second remaining width be, one there is laterally adjacent vehicle to become
The minimal transverse distance of the moving obstacle of gesture and another moving obstacle without laterally adjacent vehicle trend, this distance
It can be by preposition radar FR induction module and the left-front corner radar FLC induction module or right anterior angle radar FRC induction module of this vehicle
Institute collected data determine.Specifically, formula can be passed through:
Determine the one of motion collision of this vehicle collides the 4th most short collision time Δt5, vFXFor one of institute
State the longitudinal velocity of motion collision object, vFXIt may be vCX, it is also possible to it is vBX, according to specific circumstances depending on；
Pass through formula again:
Determine that the left side motion collision object for being located at this vehicle institute traveling lane is moved with the right side for being located at this vehicle institute traveling lane
Collision object collides the most short collision time Δ of required the 5tht6, wherein Y is most short between two moving obstacles
Lateral distance, vBYFor the lateral movement velocity of the left side motion collision object, vCYFor the transverse direction fortune of the right side motion collision object
Dynamic speed.Then, according to the 4th most short collision time Δt5With the 5th most short collision time Δt6Size comparison is carried out, the
Four most short collision time Δst5When smaller, the 4th most short collision time Δ is determinedt5When arrival, between two moving obstacles
Most short lateral distance be the described second remaining width, calculate one of dyskinesia with the trend of laterally adjacent vehicle
Object is in the 4th most short collision time Δt5Interior lateral displacement YF=vFY·Δt5, pass through formula Y-YFCalculate the second remaining width
Degree；It is on the contrary, it is determined that the 5th most short collision time Δt6Most short lateral distance when arrival, between two moving obstacles
For the second remaining width, the second remaining width is zero at this time, the most short collision time Δ of two moving obstacles each comfortable 5tht6It is interior
The sum of lateral displacement be Y.
Step 105, according to the described first remaining transverse width or the second remaining transverse width, control that this car owner is dynamic to be hindered
Object is hindered to avoid.
Specifically, in step 105, referring to Fig. 4, according to the described first remaining transverse width, control this car owner move into
Row barrier avoid the step of include:
Step 401, judge whether the described first remaining transverse width is the width that this vehicle can be made to pass through；
Step 402, if then using the center line of the described first remaining transverse width as the lane of this vehicle institute traveling lane
Center line, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, make this car owner move into
Row stationary obstruction evacuation；
Step 403, if not, then according to the vehicle of most short fore-and-aft distance and Ben Che between Ben Che and the stationary obstruction
Speed determines first braking deceleration a of this vehicle in the first predetermined amount of time1, and control this vehicle and subtract according to first braking
Speed a1Carry out braking deceleration traveling.
The first remaining transverse width is greater than 1.3 times of the width of this vehicle, or, the first remaining transverse width and this vehicle
Width differential is greater than preset width value (such as 0.3m), that is, determines that the first remaining width meets the requirement of step 401.It is specific next
It says, as long as the center line that the lane center of this identified vehicle institute traveling lane is located at the first remaining transverse width is positive and negative
Within the scope of 5cm, it is believed that meeting the requirements.When carrying out path planning, essentially according to the path planning mode of the prior art, adjust
The steering angle of vehicle, tarnsition velocity, the parameters such as acceleration are exported to executing agencies such as EPS, ESP, EMS of vehicle, control
Vehicle constantly carries out steering angle and travel speed adjustment, to make vehicle safety break the barriers section.
Wherein, first braking deceleration a1Calculate according to the acceleration formula under uniformly accelerated motion state and obtain
?.
Preferably, in step 104, trend and this vehicle institute that two moving obstacles all have laterally adjacent vehicle are directed to
The two sides of traveling lane have partly or entirely opposite and the traveling that remains a constant speed two this scenes of moving obstacle, including two
Kind of situation, the first situation referring to figure 5., determine when the described first most short collision time reaches, two movements hinder
When to hinder most short lateral distance between object be the described second remaining width, according to the described second remaining transverse width, this vehicle is controlled
The step of actively carrying out barrier evacuation include:
Step 501, judge whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
Step 502, if then using the center line of the described second remaining transverse width as the lane of this vehicle institute traveling lane
Center line, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, make this car owner move into
Row moving obstacle evacuation；
Step 503, if not, it is determined that second braking deceleration a of this vehicle in the second predetermined amount of time2, and control
This vehicle carries out Reduced Speed Now according to second braking deceleration；
Wherein, the second braking deceleration a2Pass through formula:
It calculates and obtains, X is the most short fore-and-aft distance between Ben Che and two moving obstacle, vAFor the vehicle of this vehicle
Speed, vEXFor the longitudinal velocity of motion collision object described in one of them, t0It is pre- for the safe time interval of calibration, described second
Section of fixing time is the safe time interval t of the described first most short collision time and calibration0Difference, vEXIt may be vCX, it is also possible to
For vBX, according to specific circumstances depending on.
The second remaining transverse width is greater than 1.3 times of the width of this vehicle, or, the second remaining transverse width and this vehicle
Width differential is greater than preset width value (such as 0.3m), that is, determines that the second remaining width meets the requirement of step 405.It is specific next
It says, as long as the center line that the lane center of this identified vehicle institute traveling lane is located at the second remaining transverse width is positive and negative
Within the scope of 5cm, it is believed that meeting the requirements.When carrying out path planning, essentially according to the path planning mode of the prior art, adjust
The steering angle of vehicle, tarnsition velocity, the parameters such as acceleration are exported to executing agencies such as EPS, ESP, EMS of vehicle, control
Vehicle constantly carries out steering angle and travel speed adjustment, to make vehicle safety break the barriers section.
Second case is, determine when the described second most short collision time reaches, two moving obstacles it
Between most short lateral distance when being the described second remaining width, the described second remaining width is zero at this time, surplus according to described second
Remaining transverse width, controlling this car owner dynamic the step of carrying out barrier evacuation includes:
Determine third braking deceleration a of this vehicle in third predetermined amount of time3, and this vehicle is controlled according to the third system
Dynamic deceleration a3Carry out Reduced Speed Now；
Wherein, the third braking deceleration a3Pass through formula:
It calculates and obtains, X is the most short fore-and-aft distance between Ben Che and two moving obstacle, vAFor the vehicle of this vehicle
Speed, vEXFor the longitudinal velocity of motion collision object described in one of them, t0For the safe time interval of calibration, the third is pre-
Section of fixing time is the described second most short collision time Δt3With the safe time interval t of calibration0Difference.
It is directed to the trend having close to this vehicle in two moving obstacles, and another does not have close to this vehicle
For two moving obstacles of trend, including there are two types of situation, the first situation is that the second remaining transverse width is basis
4th most short collision time Δt5It is calculated, at this point, according to according to the described second remaining transverse width, control this car owner move into
Row barrier avoid the step of include:
Judge whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
If, then using the center line of the described second remaining transverse width as the lane center of this vehicle institute traveling lane,
Again it plans the driving path of this vehicle, and controls this vehicle and travelled according to the driving path planned, make this car owner is dynamic to be moved
Barrier evacuation；
If not, it is determined that the 5th braking deceleration a in five predetermined amount of time of this Che5, and control this vehicle according to
The 4th braking deceleration a4Carry out Reduced Speed Now；
Wherein, the 5th braking deceleration a5Pass through formula:
It calculates and obtains, S is Ben Che and with vertical between one of them described moving obstacle of the trend of this vehicle
To distance, vGXFor the longitudinal velocity of one of motion collision object with the trend close to this vehicle, VAIt is predetermined for the 5th
Period is the described 4th most short collision time Δt5With the safe time interval t of calibration0Difference.
Second case is that the second remaining transverse width is according to the 5th most short collision time Δt6It calculates, it is described at this time
Second remaining width is zero, according to the described second remaining transverse width, controls dynamic the step of the carrying out barrier evacuation packet of this car owner
It includes:
Determine the 6th braking deceleration a in six predetermined amount of time of this Che6, and this vehicle is controlled according to the 6th system
Dynamic deceleration a6Carry out Reduced Speed Now；
Wherein, the 6th braking deceleration a6Pass through formula:
It calculates and obtains, S is Ben Che and with the longitudinal direction between one of them described moving obstacle of this vehicle trend
Distance, vGXFor the longitudinal velocity of one of motion collision object with the trend close to this vehicle, VAFor the speed of this vehicle,
6th predetermined amount of time is the described 5th most short collision time Δt6With the safe time interval t of calibration0Difference.
For only in a moving obstacle of the side of this vehicle institute traveling lane with the traveling that remains a constant speed and the movement
Barrier horizontally has for the moving obstacle of close this vehicle trend, at step 104, referring to Fig. 6, according to described the
Two remaining transverse widths, controlling this car owner dynamic the step of carrying out barrier evacuation includes:
Step 601, judge whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
Step 602, if then using the center line of the described second remaining transverse width as the lane of this vehicle institute traveling lane
Center line, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, make this car owner move into
Row moving obstacle evacuation；
Step 603, if not, it is determined that the 4th braking deceleration a in four predetermined amount of time of this Che4, and control
This vehicle is according to the 4th braking deceleration a4Carry out Reduced Speed Now；
Wherein, the 4th braking deceleration a4Pass through formula:
It calculates and obtains, Z is the most short fore-and-aft distance between Ben Che and moving obstacle, VAFor the vehicle of this vehicle
Speed, vDXFor the longitudinal velocity of a motion collision object, t0For the safe time interval of calibration, the described 4th pre- timing
Between section be the most short collision time Δ of the thirdt4With the safe time interval t of calibration0Difference.
The second remaining transverse width is greater than 1.3 times of the width of this vehicle, or, the first remaining transverse width and this vehicle
Width differential is greater than preset width value (such as 0.3m), that is, determines that the third residue width meets the requirement of step 408.It is specific next
It says, as long as the center line that the lane center of this identified vehicle institute traveling lane is located at the second remaining transverse width is positive and negative
Within the scope of 5cm, it is believed that meeting the requirements.When carrying out path planning, essentially according to the path planning mode of the prior art, adjust
The steering angle of vehicle, tarnsition velocity, the parameters such as acceleration are exported to executing agencies such as EPS, ESP, EMS of vehicle, control
Vehicle constantly carries out steering angle and travel speed adjustment, to make vehicle safety break the barriers section.
Certainly, in the present embodiment, while active control vehicle carries out barrier evacuation, can also be handed over by vehicle
Mutual system prompt includes system running state, objects ahead information, objects ahead distance to driver, specific suggestion content,
Prompting mode includes sound, text, light and UI animation.
Two moving obstacles are directed to not have the case where close this vehicle trend and only there is a dyskinesia
Object and the moving obstacle do not have the case where close to this vehicle trend, when being handled, referring to the step 401 to step 403
Come the second remaining width whether can satisfy vehicle laterally across requiring, if satisfied, then with the described second remaining transverse width
Lane center of the center line as this vehicle institute traveling lane, plan the driving path of this vehicle again, and control this vehicle according to
The driving path traveling planned, makes this car owner is dynamic to carry out moving obstacle evacuation；If not satisfied, then being carried out referring to step 403
Vehicle braking.
For example, this vehicle realizes that the logic of vehicle active evacuation includes:
1. D grades of vehicle travelings, system judges whether to open correct driving mode by this vehicle that (i.e. this vehicle is to drive at a constant speed at state
In adaptive cruise mode and lane centering driving mode) and speed whether >=30km/h, two conditions, which meet, activates intelligence
Actively avoid function；
2. function activation, there is barrier according to whether there are obstacles step 101 and step 102 judgement front target in system
Object target is hindered to enter in next step；
3. judging whether this vehicle can this vehicle of safety institute by step 105 according to step 103 or 104 calculated result
Traveling lane can be travelled by controlling this vehicle according to planned trajectory, cannot be slowed down safely by then controlling this vehicle；
If 4. system cannot planned trajectory or control of slowing down again in time, prompt driver's adapter tube vehicle, driver without
Reaction, which is taken, further strengthens prompt.
Referring to Fig. 7, in the present embodiment, carry out scene citing: this vehicle A is in this lane with adaptive cruise+lane pair
Middle mode traveling, adjacent lane target carriage B, C have the traveling trend for changing lane to this lane.It is remained a constant speed row with A, B, C vehicle
It sails and establishes physical model, vCFor the instantaneous velocity of C vehicle, vCY、vCXThe respectively cross of C vehicle, longitudinal velocity, vBFor the instantaneous of B vehicle
Speed, vBY、vBXRespectively B vehicle cross, longitudinal velocity, d are A vehicle maximum width, vAFor A vehicle instantaneous velocity, X is A vehicle to B, C vehicle
Minimum fore-and-aft distance, Y B, C vehicle minimal transverse distance.It is assumed that vA>vBX>vCX, and vASystem activates when >=30kph, You Tuke
Know, X=(vA-vCX)×Δt1, Y=(vBY+vCY)×Δt2, wherein vAIt can be calculated by ESP module, X, Y, vBX、vCX、vBY、vCY
It is merged by the sensor perception information in environmental perception module, by radar range finding, is tested the speed and angle measuring principle can be calculated,
Then Δ t1、Δt2As a result it can calculate, central control module is written as vehicle parameter in d.
When A vehicle is travelled to the C vehicle tailstock, the lateral displacement of B, C vehicle and be YB+YC=(vBY+vCY)×Δt1, as Y- (YB+
YCWhen) >=1.3d, system determines that A vehicle can be normaled cruise by the way that between B, C vehicle, then A vehicle cruises according to planned trajectory again
It drives through, this lane center is gradually returned to after and continues to travel.Again planned trajectory is according to the transverse center between B, C vehicle
Line biasing ± 5cm is calculated, i.e., gained is simulated according to the truck position B, C dynamic change, and the mathematical model of planned trajectory is rondo
Line model (clothoid), whole process use PID control.As Y- (YB+YCWhen)≤1.3d, system determines that A vehicle cannot be with normal
Cruise is by the way that between B, C vehicle, then system controls A vehicle with the second acceleration a2Active deceleration is carried out, and whole process keeps this vehicle
Road center traveling considers setting t0Away from 2a can be obtained when s (can demarcate) is safe2(X-vCX×t0)=vA 2-vCX 2, i.e.,As a result it calculates it is found that at this point, vCXIndicate the moving obstacle that may preferentially collide in the longitudinal direction with this vehicle
Longitudinal velocity, the i.e. longitudinal velocity of right side moving obstacle.
It is travelled referring to Fig. 8, this vehicle A in this lane with mode in adaptive cruise+lane pair, the portion adjacent lane truck D
Divide and accounts for this lanes.The traveling that remained a constant speed with A, D establishes physical model, vAFor A vehicle instantaneous velocity, vDIt is instantaneously fast for D vehicle
Degree, d are A vehicle maximum width, and Z is A vehicle to D vehicle minimum fore-and-aft distance, W be D vehicle to this lane left-hand lane line minimum lateral away from
From Y A, D vehicle minimal transverse distance.It is assumed that VA>VD, and vASystem activates when >=30kph, as seen from the figure, Z=(vA-vDX)×
Δt4, wherein vAIt can be calculated by ESP module, Z, Y, W, vDXIt is merged by sensor perception information, by radar range finding, is surveyed
Speed and angle measuring principle can be calculated, then Δt4As a result it can calculate, central control module is written as vehicle parameter in d.
As W >=1.2d, system determines that A vehicle can normal cruise and surmounts truck D in this lane, then controls A vehicle according to weight
New planned trajectory carries out cruise traveling and surmounts, and surmounts and gradually returns to this lane center after truck D and continue to travel.Again rail is planned
Mark is calculated according to the perpendicular bisector biasing ± 5cm of lateral distance W, and the mathematical model of planned trajectory is clothoid model
(clothoid), i.e., by adjusting A vehicle steering wheel angle, the parking stall A is gradually adjusted in the left side truck B and this lane left-hand lane
Line center traveling, whole process use PID control.As W≤1.2d, system determines that A vehicle cannot surmount bulk production to normal cruise
Vehicle D, then system controls A vehicle with the 4th acceleration a4Active deceleration is carried out, and whole process keeps this lane center to travel, considered
T is set0Away from 2a can be obtained when s (can demarcate) is safe4(Z-vDX×t0)=vA 2-vD 2, i.e.,As a result calculate it is found that this
When, vDXFor the longitudinal velocity of a motion collision object.The application above method passes through this vehicle after occupying to barrier
On remaining width determination, judge vehicle whether can normal pass, and can normal pass when passage path plan, make
Vehicle can realize the effect that vehicle actively avoids barrier by the barrier section；When vehicle is unable to normal pass,
By controlling vehicle active brake, guarantee safe driving of vehicle.
Specifically, it in the above embodiment of the present invention, has the effect that
One, the sensor for making full use of existing automatic Pilot technical solution to be related to promotes its hardware parameter maximum utilizationization,
Realize more automatic Pilot miscellaneous functions.Two, when being occupied in front of this lane by barrier or other targets, pass through sensor
Target information is merged, in conjunction with the information such as car speed, yaw rate, Automatic Optimal vehicle driving trace, and is mentioned by interactive system
Show driver.Not only it can be reduced automatic Pilot miscellaneous function special screne to degrade or exit, but also can inform driver vehicle certainly in real time
Dynamic drive assistance function operating status, reduces driver's adapter tube pressure.
Working principle of the present invention is simple, it is feasible effectively, can specific aim solve automatic Pilot miscellaneous function limit scene, into one
The robustness of step optimization automatic Pilot miscellaneous function provides scheme basis for full-automation automatic Pilot technology.
According to another aspect of the present invention, the present invention also provides the devices that a kind of vehicle actively avoids barrier, comprising:
Detection module, for being in driving mode in adaptive cruise mode and lane pair in this vehicle to drive at a constant speed state
When, detection front occupies the barrier of this vehicle institute traveling lane with the presence or absence of part；
First determining module, for if it exists, it is determined that the affiliated type of barrier；
Second determining module, for determining this vehicle institute Travel vehicle when the affiliated type of the barrier is stationary obstruction
Road occupied by the stationary obstruction after the first remaining transverse width；
Third determining module, for determining that this vehicle is travelled to can when the affiliated type of the barrier is moving obstacle
The second remaining transverse width when the position that can be collided, after this vehicle institute's traveling lane is occupied by the moving obstacle；
Control module, for it is dynamic to control this car owner according to the described first remaining transverse width or the second remaining transverse width
Carry out barrier evacuation.
Preferably, first determining module includes:
Detection unit, for detect the barrier and this vehicle relative velocity size whether with this vehicle absolute velocity is big over the ground
It is small equal；
First determination unit, if for equal, it is determined that the affiliated type of barrier is stationary obstruction；
Second determination unit, on the contrary, it is determined that the affiliated type of barrier is moving obstacle.
Preferably, the second determining module includes:
Third determination unit, the two sides for Ruo Benche institute traveling lane have partly or entirely be oppositely arranged two it is static
Barrier, it is determined that the described first remaining transverse width is the most short lateral distance between two stationary obstructions；
4th determination unit, if for only to there is a stationary obstruction in the side of this vehicle institute traveling lane, it is determined that
Most hyphen of the described first remaining transverse width between the other side lane line on the barrier and this vehicle institute traveling lane
To distance, other side lane line refers to the side lane line on this vehicle institute traveling lane far from the stationary obstruction.
Preferably, the control module includes:
First judging unit, for judging whether the described first remaining transverse width is the width that this vehicle can be made to pass through；
First control unit, for if then being travelled using the center line of the described first remaining transverse width as this vehicle
The lane center in lane, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, makes
This car owner is dynamic to carry out stationary obstruction evacuation；
Second control unit, if not for then according to the most short fore-and-aft distance between Ben Che and the stationary obstruction
With the speed of this vehicle, first braking deceleration a of this vehicle in the first predetermined amount of time is determined1, and this vehicle is controlled according to described
First braking deceleration a1Carry out braking deceleration traveling.
Preferably, third determining module includes:
Second judgment unit, for judging whether the two sides of this vehicle institute traveling lane have partly or entirely opposite and keep
Two moving obstacles driven at a constant speed；
5th determination unit, for if it exists, it is determined that Ben Che and one of them described moving obstacle collide institute
Need the first most short collision time and two moving obstacles horizontally collide the most short collision of required second when
Between, one of them described moving obstacle refers to the moving obstacle that may preferentially collide in the longitudinal direction with this vehicle,
And
It determines in the arrival of the described first most short collision time or when the arrival of the described second most short collision time, described in two
Most short lateral distance between moving obstacle is the described second remaining width；
6th determination unit, if for only having a movement of the traveling that remains a constant speed in the side of this vehicle institute traveling lane
Barrier, it is determined that Ben Che and the moving obstacle may collide the most short collision time of required third, and
Determine the third most short collision time reach when, the moving obstacle with it is another on this vehicle institute traveling lane
Most short lateral distance between the lane line of side is the described second remaining width, and other side lane line refers to this vehicle institute traveling lane
The upper side lane line far from the moving obstacle.
Preferably, the 5th determination unit includes:
First determines subelement, for according to formula:
When determining the first collision that this vehicle may collide with the right side motion collision object for being located at this vehicle institute traveling lane
Between Δt1, wherein most short fore-and-aft distance of the X between Ben Che and right side moving obstacle, vAFor the speed of this vehicle, vCXIt is described
The longitudinal velocity of right side motion collision object,
Second determines subelement, for according to formula:
Determine the second collision time that the left side motion collision object of this Che Yuben vehicle institute traveling lane may collide
Δt2, wherein most short fore-and-aft distance of the X between Ben Che and left side moving obstacle, vAFor the speed of this vehicle, vBXFor the left side
The longitudinal velocity of side motion collision object；
Third determines subelement, is used for the first collision time Δt1With the second collision time Δt2Middle duration
A shorter collision time is determined as the described first most short collision time；
4th determines subelement, for according to formula:
Determine that the left side motion collision object for being located at this vehicle institute traveling lane is moved with the right side for being located at this vehicle institute traveling lane
Collision object collides the most short collision time Δ of required secondt3, wherein Y is most short between two moving obstacles
Lateral distance, vBYFor the lateral movement velocity of the left side motion collision object, vCYFor the transverse direction fortune of the right side motion collision object
Dynamic speed.
Preferably, the 5th determination unit includes:
5th determines subelement, if the duration for the described first most short collision time is less than the described second most short collision
Between duration, it is determined that when the described first most short collision time reaches, the most hyphen between two moving obstacles to
Distance is the described second remaining width；
6th determines subelement, if the duration for the described first most short collision time is most short more than or equal to described second
The duration of collision time, it is determined that when the described second most short collision time reaches, between two moving obstacles most
Short lateral distance is the described second remaining width, and the described second remaining width is zero.
Preferably, determine when the described first most short collision time reaches, between two moving obstacles most
When short lateral distance is the described second remaining width, control module includes:
Third judging unit, for judging whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
Third control unit, for if then being travelled using the center line of the described second remaining transverse width as this vehicle
The lane center in lane, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, makes
This car owner is dynamic to carry out moving obstacle evacuation；
4th control unit, if not for, it is determined that second braking deceleration of this vehicle in the second predetermined amount of time
a2, and this vehicle is controlled according to the second braking deceleration a2Carry out Reduced Speed Now；
Wherein, the second braking deceleration a2Pass through formula:
It calculates and obtains, most short fore-and-aft distance of the X between Ben Che and one of them described moving obstacle, vAFor this vehicle
Speed, vEXFor the longitudinal velocity of motion collision object described in one of them, t0For the safe time interval of calibration, described second
Predetermined amount of time is the safe time interval t of the described first most short collision time and calibration0Difference.
Determine when the described second most short collision time reaches, the most hyphen between two moving obstacles to away from
When from for the described second remaining width, according to the described second remaining transverse width, control module includes:
5th control unit, for determining third braking deceleration a of this vehicle in third predetermined amount of time3, and control
This vehicle is according to the third braking deceleration a3Carry out Reduced Speed Now；
Wherein, the third braking deceleration a3Pass through formula:
It calculates and obtains, most short fore-and-aft distance of the X between Ben Che and one of them described moving obstacle, vAFor this vehicle
Speed, vEXFor the longitudinal velocity of motion collision object described in one of them, t0For the safe time interval of calibration, the third
Predetermined amount of time is the described second most short collision time Δt3With the safe time interval t of calibration0Difference.
Preferably, if only having a moving obstacle and one for the traveling that remains a constant speed in the side of this vehicle institute traveling lane
The trend that horizontally there is a moving obstacle relatively close vehicle to travel, the 6th determination unit include:
7th determines subelement, for according to formula:
Determine the most short collision time Δ of third that this vehicle and a motion collision object may collidet4, wherein Z
Most short fore-and-aft distance between Ben Che and the moving obstacle, vAFor the speed of this vehicle, vDXFor the motion collision object
Movement velocity.
Preferably, control module includes:
7th determination unit, for judging whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
6th control unit, for if then being travelled using the center line of the described second remaining transverse width as this vehicle
The lane center in lane, plans the driving path of this vehicle again, and controls this vehicle and travel according to the driving path planned, makes
This car owner is dynamic to carry out moving obstacle evacuation；
7th control unit, if not for, it is determined that the third braking deceleration in four predetermined amount of time of this Che
a3, and this vehicle is controlled according to the 4th braking deceleration a4Carry out Reduced Speed Now；
Wherein, the 4th braking deceleration a4Pass through formula:
It calculates and obtains, Z is the most short fore-and-aft distance between Ben Che and moving obstacle, vAFor the vehicle of this vehicle
Speed, vDXFor the longitudinal velocity of the motion collision object, t0For the safe time interval of calibration, the 4th predetermined amount of time
For the most short collision time Δ of the thirdt4With the safe time interval t of calibration0Difference.
According to another aspect of the present invention, the present invention also provides a kind of automobiles, and including above-mentioned vehicle, actively evacuation hinders
Hinder the device of object.
Claims (13)
1. a kind of method that vehicle actively avoids barrier characterized by comprising
When this vehicle is in driving mode in adaptive cruise mode and lane pair to drive at a constant speed state, whether detection front is deposited
In the barrier for partially occupying this vehicle institute traveling lane；
If it exists, it is determined that the affiliated type of barrier；
When the affiliated type of the barrier is stationary obstruction, determine this vehicle institute's traveling lane shared by the stationary obstruction
The first remaining transverse width after；
When the affiliated type of the barrier is moving obstacle, when determining that this vehicle is travelled to the position that may be collided, this
Vehicle institute's traveling lane occupied by the moving obstacle after the second remaining transverse width；
According to the described first remaining transverse width or the second remaining transverse width, the dynamic progress barrier evacuation of this car owner is controlled.
2. the method according to claim 1, wherein the step of determining the barrier affiliated type includes:
Detect the barrier and this vehicle relative velocity size whether with this vehicle absolute velocity is equal in magnitude over the ground；
If equal, it is determined that the affiliated type of barrier is stationary obstruction；
It is on the contrary, it is determined that the affiliated type of barrier is moving obstacle.
3. the method according to claim 1, wherein the affiliated type of the barrier be stationary obstruction when,
The step of the first remaining transverse width after determining this vehicle institute's traveling lane occupied by the stationary obstruction includes:
There are two stationary obstructions being partly or entirely oppositely arranged in the two sides of Ruo Benche institute traveling lane, it is determined that described first
Remaining transverse width is the most short lateral distance between two stationary obstructions；
If only there is a stationary obstruction in the side of this vehicle institute traveling lane, it is determined that the first remaining transverse width is
The most short lateral distance between the lane line of the other side on the barrier and this vehicle institute traveling lane, other side lane line refer to
Far from the side lane line of the stationary obstruction on this vehicle institute traveling lane.
4. according to the method described in claim 3, it is characterized in that, controlling this car owner according to the described first remaining transverse width
Moving the step of carrying out barrier evacuation includes:
Judge whether the described first remaining transverse width is the width that this vehicle can be made to pass through；
If then using the center line of the described first remaining transverse width as the lane center of this vehicle institute traveling lane, again
It plans the driving path of this vehicle, and controls this vehicle and travelled according to the driving path planned, make this car owner is dynamic to carry out static obstacle
Object evacuation；
If not then determining this vehicle according to the speed of most short fore-and-aft distance and Ben Che between Ben Che and the stationary obstruction
The first braking deceleration a in the first predetermined amount of time1, and this vehicle is controlled according to the first braking deceleration a1It is made
Dynamic Reduced Speed Now.
5. the method according to claim 1, wherein the affiliated type of the barrier be moving obstacle when,
When determining that this vehicle is travelled to the position that may be collided, after this vehicle institute's traveling lane is occupied by the moving obstacle
The step of two remaining transverse widths includes:
Judge whether the two sides of this vehicle institute traveling lane have partly or entirely opposite and the traveling that remains a constant speed two movements barrier
Hinder object；
If it exists, it is determined that Ben Che and one of them described moving obstacle collide the most short collision time of required first and
Two moving obstacles horizontally collide the most short collision time of required second, one of them described dyskinesia
Object refers to the moving obstacle that may preferentially collide in the longitudinal direction with this vehicle；And
It determines in the arrival of the described first most short collision time or when the arrival of the described second most short collision time, two movements
Most short lateral distance between barrier is the described second remaining width；
If only having a moving obstacle of the traveling that remains a constant speed in the side of this vehicle institute traveling lane, it is determined that Ben Che and institute
Stating moving obstacle may collide the most short collision time of required third；And
Determine the other side when the third most short collision time reaches, on the moving obstacle and this vehicle institute traveling lane
Most short lateral distance between lane line is the described second remaining width, and other side lane line refers to remote on this vehicle institute traveling lane
Side lane line from the moving obstacle.
6. according to the method described in claim 5, it is characterized in that, if two moving obstacles horizontally have relatively
Close to the trend of this vehicle traveling, determines this vehicle and one of them described moving obstacle collides the most short collision of required first
The step of time includes:
According to formula:
Determine the first collision time Δ that the right side motion collision object of this Che Yuben vehicle institute traveling lane may collidet1,
In, most short fore-and-aft distance of the X between Ben Che and right side moving obstacle, vAFor the speed of this vehicle, vCXFor right side movement
Collide the longitudinal velocity of object；
According to formula:
Determine the second collision time Δ that the left side motion collision object of this Che Yuben vehicle institute traveling lane may collidet2,
In, most short fore-and-aft distance of the X between Ben Che and left side moving obstacle, vAFor the speed of this vehicle, vBXFor left side movement
Collide the longitudinal velocity of object；
By the first collision time Δt1With the second collision time Δt2A shorter collision time of middle duration is determined as
Described first most short collision time；
Determine two moving obstacles horizontally collide the most short collision time of required second the step of include:
According to formula:
Determine the left side motion collision object for being located at this vehicle institute traveling lane and the right side motion collision for being located at this vehicle institute traveling lane
Object collides the most short collision time Δ of required secondt3, wherein Y be most hyphen between two moving obstacles to
Distance, vBYFor the lateral movement velocity of the left side motion collision object, vCYFor the transverse movement speed of the right side motion collision object
Degree.
7. according to the method described in claim 5, it is characterized in that, determine the described first most short collision time reach when or institute
Most short lateral distance when stating the arrival of the second most short collision time, between two moving obstacles is described second remaining wide
The step of spending include:
If the duration of the described first most short collision time is less than the duration of the described second most short collision time, it is determined that described the
Most short lateral distance when one most short collision time reaches, between two moving obstacles is the described second remaining width；
If the duration of the described first most short collision time is greater than or equal to the duration of the described second most short collision time, it is determined that
Most short lateral distance when described second most short collision time reaches, between two moving obstacles is described second remaining
Width, at this point, the described second remaining width is zero.
8. the method according to the description of claim 7 is characterized in that determine the described first most short collision time reach when,
It is remaining lateral according to described second when most short lateral distance between two moving obstacles is the described second remaining width
Width, controlling this car owner dynamic the step of carrying out barrier evacuation includes:
Judge whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
If then using the center line of the described second remaining transverse width as the lane center of this vehicle institute traveling lane, again
It plans the driving path of this vehicle, and controls this vehicle and travelled according to the driving path planned, make this car owner is dynamic to carry out dyskinesia
Object evacuation；
If not, it is determined that second braking deceleration a of this vehicle in the second predetermined amount of time2, and this vehicle is controlled according to described
Two braking deceleration a2Carry out Reduced Speed Now；
Wherein, the second braking deceleration a2Pass through formula:
It calculates and obtains, most short fore-and-aft distance of the X between Ben Che and one of them described moving obstacle, vAFor the speed of this vehicle,
vEXFor the longitudinal velocity of motion collision object described in one of them, t0It is predetermined for the safe time interval of calibration, described second
Period is the safe time interval t of the described first most short collision time and calibration0Difference.
9. the method according to the description of claim 7 is characterized in that determine the described second most short collision time reach when,
It is remaining lateral according to described second when most short lateral distance between two moving obstacles is the described second remaining width
Width, controlling this car owner dynamic the step of carrying out barrier evacuation includes:
Determine third braking deceleration a of this vehicle in third predetermined amount of time3, and control this vehicle and subtract according to third braking
Speed a3Carry out Reduced Speed Now；
Wherein, the third braking deceleration a3Pass through formula:
It calculates and obtains, most short fore-and-aft distance of the X between Ben Che and one of them described moving obstacle, vAFor the speed of this vehicle,
vEXFor the longitudinal velocity of motion collision object described in one of them, t0For the safe time interval of calibration, the third makes a reservation for
Period is the described second most short collision time Δt3With the safe time interval t of calibration0Difference.
10. according to the method described in claim 5, it is characterized in that, being kept if only having in the side of this vehicle institute traveling lane
The moving obstacle and a moving obstacle driven at a constant speed horizontally has becoming for relatively close vehicle traveling
Gesture, determine this vehicle and the moving obstacle may collide required third most short collision time the step of include:
According to formula:
Determine the most short collision time Δ of third that this vehicle and a motion collision object may collidet4, wherein Z is this
Most short fore-and-aft distance between vehicle and the moving obstacle, vAFor the speed of this vehicle, vDXFor the longitudinal direction of the motion collision object
Movement velocity.
11. according to the method described in claim 10, it is characterized in that, controlling this vehicle according to the described second remaining transverse width
The step of actively carrying out barrier evacuation include:
Judge whether the described second remaining transverse width is the width that this vehicle can be made to pass through；
If then using the center line of the described second remaining transverse width as the lane center of this vehicle institute traveling lane, again
It plans the driving path of this vehicle, and controls this vehicle and travelled according to the driving path planned, make this car owner is dynamic to carry out dyskinesia
Object evacuation；
If not, it is determined that the 4th braking deceleration a in four predetermined amount of time of this Che4, and this vehicle is controlled according to described
Four braking deceleration a4Carry out Reduced Speed Now；
Wherein, the 4th braking deceleration a4Pass through formula:
It calculates and obtains, Z is the most short fore-and-aft distance between Ben Che and moving obstacle, vAFor the speed of this vehicle, vDX
For the longitudinal velocity of the motion collision object, t0For the safe time interval of calibration, the 4th predetermined amount of time is institute
State the most short collision time Δ of thirdt4With the safe time interval t of calibration0Difference.
12. the device that a kind of vehicle actively avoids barrier characterized by comprising
Detection module, for when this vehicle is in driving mode in adaptive cruise mode and lane pair to drive at a constant speed state,
Detection front occupies the barrier of this vehicle institute traveling lane with the presence or absence of part；
First determining module, for if it exists, it is determined that the affiliated type of barrier；
Second determining module, for determining this vehicle institute traveling lane quilt when the affiliated type of the barrier is stationary obstruction
The first remaining transverse width after the stationary obstruction is occupied；
Third determining module, for the affiliated type of the barrier be moving obstacle when, determine this vehicle travel to it is described
Second when the position that moving obstacle may collide, after this vehicle institute's traveling lane is occupied by the moving obstacle remains
Remaining transverse width；
Control module, for controlling according to the described first remaining transverse width or the second remaining transverse width, this car owner is dynamic to be carried out
Barrier evacuation.
13. a kind of automobile, which is characterized in that actively avoid the device of barrier including the vehicle described in claim 12.
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| CN113619581A (en) * | 2021-08-27 | 2021-11-09 | 中国第一汽车股份有限公司 | Vehicle control method, device, equipment and medium in following cruise state |
| CN114326729A (en) * | 2021-12-27 | 2022-04-12 | 上海擎朗智能科技有限公司 | Movement and movement control method, electronic device and medium |
| CN114608603A (en) * | 2022-04-18 | 2022-06-10 | 小米汽车科技有限公司 | Path planning method and device, storage medium and vehicle |
| CN114608602A (en) * | 2022-04-18 | 2022-06-10 | 小米汽车科技有限公司 | Path planning method and device, storage medium and vehicle |
| CN115014372A (en) * | 2022-04-18 | 2022-09-06 | 小米汽车科技有限公司 | Path planning method and device, storage medium and vehicle |
| CN114608603B (en) * | 2022-04-18 | 2023-07-04 | 小米汽车科技有限公司 | Path planning method, path planning device, storage medium and vehicle |
| CN115014372B (en) * | 2022-04-18 | 2024-03-12 | 小米汽车科技有限公司 | Path planning method, path planning device, storage medium and vehicle |
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