CN112612272A

CN112612272A - Obstacle avoidance control method, electronic device and storage medium

Info

Publication number: CN112612272A
Application number: CN202011493281.0A
Authority: CN
Inventors: 朱浩
Original assignee: Hubei Ecarx Technology Co Ltd
Current assignee: Ecarx Hubei Tech Co Ltd
Priority date: 2020-12-17
Filing date: 2020-12-17
Publication date: 2021-04-06

Abstract

The embodiment of the invention provides an obstacle avoidance control method, electronic equipment and a storage medium, and relates to the technical field of automatic driving, wherein the method comprises the following steps: obtaining the position of an object, the speed of the object driven by the object and a planned route; predicting a predicted route of movement of the barrier in the monitored area according to the monitoring information acquired by the information acquisition equipment; under the condition that intersection points exist between the planned route and the predicted route, obtaining the barrier speed of the barrier movement according to the monitoring information, and calculating the first duration from the barrier movement to the predicted collision position according to the barrier speed; according to the position and the speed of the object, obtaining a second duration of the object driving to the estimated collision position; and when the relation between the first duration and the second duration represents that the object and the obstacle have collision possibility, controlling the object to avoid the obstacle. By applying the scheme provided by the embodiment of the invention, the object can be controlled to avoid obstacles, and the safety degree of the object in the driving process is improved.

Description

Obstacle avoidance control method, electronic device and storage medium

Technical Field

The present invention relates to the field of automatic driving technologies, and in particular, to an obstacle avoidance control method, an electronic device, and a storage medium.

Background

Obstacles such as other vehicles and pedestrians may exist in the area where the object such as a vehicle and a robot is located, so that the object may collide with the obstacle during driving, and the driving of the object is affected. In order to avoid collision between an object and an obstacle, the object needs to be controlled to avoid the obstacle, so that the safety of the object in the driving process is ensured.

In the prior art, an object can acquire information of surrounding obstacles through an information acquisition device installed on the object, so that the object can avoid the obstacles according to the acquired information of the obstacles in the driving process. However, since the information collecting device has a limited collecting range, only the information of the obstacles around the object can be collected, and the obstacles far away may interfere with the driving of the object. Therefore, the object is less safe during driving.

Disclosure of Invention

An object of the embodiments of the present invention is to provide an obstacle avoidance control method, an electronic device, and a storage medium, so as to improve the safety of an object in a driving process. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides an obstacle avoidance control method, where the method includes:

obtaining the position of an object, the speed of the object driven by the object and a planned route;

predicting a predicted route of movement of an obstacle in a monitored area according to monitoring information acquired by information acquisition equipment, wherein the information acquisition equipment is installed in the monitored area;

under the condition that intersection points exist between the planned route and the predicted route, obtaining the barrier speed of barrier movement according to the monitoring information, and calculating the first time length from barrier movement to the predicted collision position according to the barrier speed, wherein the predicted collision position is determined according to the intersection points;

according to the position of the object and the speed of the object, obtaining a second duration of the object driving to the estimated collision position;

and when the relation between the first duration and the second duration represents that the object and the obstacle have collision possibility, controlling the object to avoid the obstacle.

In an embodiment of the present invention, the calculating a first duration of the obstacle moving to the predicted collision position according to the speed of the obstacle includes:

obtaining a first distance of the obstacle relative to the information acquisition equipment according to the monitoring information;

calculating a second distance between the barrier and the estimated collision position according to the installation position of the information acquisition equipment and the first distance;

and calculating the first time length from the movement of the obstacle to the predicted collision position according to the speed of the obstacle and the second distance.

calculating a first sub-time length of the barrier moving to the predicted collision position according to the barrier speed;

predicting the predicted speed of the barrier after a preset time length according to the barrier speed, wherein the preset time length is less than the first sub-time length;

calculating a second sub-time length of the barrier moving to the estimated collision position according to the predicted speed;

determining the maximum value of the first sub-time length and the second sub-time length as the first time length for the obstacle to move to the estimated collision position.

calculating a third sub-time length of the barrier moving to the predicted collision position according to the barrier speed;

and calculating the sum of the third sub-time length and a preset time delay as the first time length of the barrier moving to the estimated collision position, wherein the preset time delay represents the time length required by the third sub-time length obtained through calculation.

In an embodiment of the present invention, when the relationship between the first duration and the second duration represents that there is a possibility of collision between the object and an obstacle, controlling the object to avoid the obstacle includes:

and if the absolute value of the time difference between the first time length and the second time length is less than or equal to a preset time difference, determining that the relation between the first time length and the second time length represents that the object and the obstacle have collision possibility, and controlling the object to avoid the obstacle.

In an embodiment of the present invention, the controlling the object to avoid the obstacle includes:

calculating a safe speed at which the probability of collision between the object and an obstacle is reduced, according to the first duration and the position of the object;

and controlling the object to avoid the obstacle according to the safe speed.

In one embodiment of the present invention, the calculating a safe speed that reduces the probability of collision between the object and an obstacle according to the first duration and the position of the object includes:

obtaining an object size of the object;

calculating a first safe speed which reduces the probability of collision between the object and an obstacle in an acceleration mode according to the first duration, the position of the object and the size of the object;

calculating a second safe speed which reduces the probability of collision between the object and an obstacle in a deceleration mode according to the first duration, the position of the object and the size of the object;

selecting a safe speed from the first safe speed and the second safe speed.

determining an object class to which the object belongs;

and determining the safe speed of the object before the object drives to the estimated collision position according to the first time length, the position of the object and the speed change distance corresponding to the object type.

In an embodiment of the present invention, the obtaining of the obstacle speed of the obstacle movement according to the monitoring information includes:

and calculating the barrier speed of the barrier movement by adopting the distance of the barrier relative to the information acquisition equipment at different acquisition moments obtained according to the monitoring information and a preset distance compensation value.

In an embodiment of the present invention, before predicting a predicted route of movement of an obstacle in a monitored area according to monitoring information collected by an information collecting device, the method further includes:

obtaining motion indication information set in the monitoring area;

determining whether the motion state of the barrier conforms to the motion state indicated by the motion indication information according to the monitoring information acquired by the information acquisition equipment;

if not, the step of predicting the predicted route of the movement of the barrier in the monitored area according to the monitoring information acquired by the information acquisition equipment is executed.

In an embodiment of the present invention, the determining, according to the monitoring information acquired by the information acquisition device, whether the motion state of the obstacle matches the motion state indicated by the motion indication information includes:

calculating the time required for the barrier to move to a preset position by adopting the barrier position and the barrier speed determined according to the monitoring information;

and if the calculated required time is greater than the passable time represented by the motion indication information, determining that the motion state of the obstacle does not accord with the motion state indicated by the motion indication information.

In a second aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of the first aspect when executing a program stored in the memory.

In a third aspect, a computer-readable storage medium has stored therein a computer program which, when executed by a processor, performs the method steps of any of the first aspects.

In a fourth aspect, embodiments of the present invention also provide a computer program product comprising instructions, which when run on a computer, cause the computer to perform the method steps of any of the first aspects described above.

The embodiment of the invention has the following beneficial effects:

according to the scheme provided by the embodiment of the invention, the position, the speed and the planned route of the object are obtained, and the predicted route of the movement of the barrier in the monitoring area is predicted according to the monitoring information acquired by the information acquisition equipment. And under the condition that the intersection point exists between the planned route and the predicted route, obtaining the barrier speed of the barrier movement according to the monitoring information, and calculating the first time length from the barrier movement to the predicted collision position. And obtaining a second time length for the object to travel to the estimated collision position according to the position of the object and the speed of the object. And controlling the object to avoid the obstacle under the condition that the relation between the first duration and the second duration represents that the object and the obstacle have collision possibility.

As can be seen from the above, in the solution provided in the embodiment of the present invention, if there is an intersection between the planned route where the object travels and the predicted route where the obstacle moves, it indicates that there is a risk of collision between the object and the predicted route where the object continues to travel along the planned route and the obstacle continues to move along the route. On the basis, a first time length for the barrier to move to the estimated collision position is determined, and a second time length for the object to travel to the estimated collision position is determined. If the relation between the first duration and the second duration represents that the object and the obstacle have collision possibility, the object and the obstacle may move to the estimated collision position at a similar moment, so that the object can be controlled to avoid the obstacle, and the safety degree of the object in the driving process is ensured.

And because the information acquisition equipment is arranged in the monitoring area, the information acquisition equipment can acquire monitoring information in a larger range in the monitoring area, and the monitoring information can reflect information of a plurality of obstacles in a larger range, so that the object is controlled to avoid obstacles according to the monitoring information, and the safety degree of the object in the driving process can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a first obstacle avoidance control method according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a monitoring area according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a first planned route and a predicted route intersection according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a second planned route and predicted route intersection provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of a first horizontal distance provided by an embodiment of the present invention;

FIG. 6 is a schematic diagram of a second horizontal distance provided by an embodiment of the present invention;

fig. 7 is a schematic flow chart of a second obstacle avoidance control method according to an embodiment of the present invention;

fig. 8 is a schematic flow chart of a third obstacle avoidance control method according to an embodiment of the present invention;

fig. 9 is a schematic flowchart of a fourth obstacle avoidance control method according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an electronic device provided in an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The information acquisition equipment with the object installed on the information acquisition equipment is limited in acquisition range, only the information of obstacles around the object can be acquired, the obstacle far away from the object is difficult to react, and the safety degree of the object in the driving process is low. In order to improve the safety degree of an object in the driving process, the embodiment of the invention provides an obstacle avoidance control method, electronic equipment and a storage medium.

In an embodiment of the present invention, an obstacle avoidance control method is provided, where the method includes:

and obtaining the position of the object, the speed of the object driven by the object and the planned route.

And predicting a predicted route of the movement of the barrier in the monitored area according to the monitoring information acquired by the information acquisition equipment, wherein the information acquisition equipment is installed in the monitored area.

And under the condition that the planned route and the predicted route have an intersection, obtaining the barrier speed of the barrier movement according to the monitoring information, and calculating the first time length from the barrier movement to the predicted collision position according to the barrier speed, wherein the predicted collision position is determined according to the intersection.

And obtaining a second time length for the object to travel to the estimated collision position according to the position of the object and the speed of the object.

The following describes an obstacle avoidance control method provided by an embodiment of the present invention with a specific embodiment.

Referring to fig. 1, an embodiment of the present invention provides a flowchart of a first obstacle avoidance control method, where the method includes the following steps S101 to S105.

In particular, the method can be applied to a data processing server.

S101: and obtaining the position of the object, the speed of the object driven by the object and the planned route.

Among them, the object may be an autonomous automobile, a robot, or the like.

Specifically, the position of the object, the speed of the object, and the planned route may be transmitted by the object.

The position of the object may be a position expressed in latitude and longitude coordinates obtained by a positioning device installed to the object. The planned route of the subject may be a route planned by a navigation system installed to the subject. For example, the positioning apparatus may be an RTK (Real Time Kinematic) positioning unit.

The planned route of the object may be represented as a set of latitude and longitude coordinates of a location point included in the planned route.

The object may send the location of the object, the speed of the object, and the planned route to the data processing server.

In addition, the position of the object, the speed of the object and the planned route for the object to travel can also be determined by the monitoring information collected by the information collecting device, and in this case, the planned route can be predicted according to the known travel route of the object.

The information collecting device may be an image information collecting device, such as a camera, a video camera, etc., and the monitoring information is image information. The information acquisition device can also be a laser radar, such as a solid-state laser radar, a mechanical laser radar and the like, and the monitoring information is laser point cloud information. The information acquisition device may also include an image information acquisition device and a lidar.

Under the condition that the information acquisition equipment is image information acquisition equipment, an object region in an image acquired by the image information acquisition equipment can be identified, and pixel point coordinates of pixel points in the object region are converted into position coordinates in a world coordinate system, so that the position of an object is obtained.

In the case where the information acquisition device is a laser radar, the position coordinates of the object in the world coordinate system may be determined according to laser point information of the laser points projected onto the surface of the object, which is included in the laser point cloud information, so as to obtain the position of the object.

The distance between the positions of the objects at different acquisition instants can be determined and the object velocity of the object is obtained by dividing the determined distance by the time difference between the acquisition instants.

The acquired running route of the object can be determined according to the positions of the object at different acquisition moments, and the planning route of the object is predicted through a Kalman algorithm or an extended Kalman algorithm according to the running route of the object. In the case where the information acquisition device includes an image acquisition device, the planned route of the object may be predicted in accordance with the direction of the object indicated by the image acquired by the image acquisition device, in combination with the travel route of the object.

In an embodiment of the present invention, the object and the data processing server, the information collecting device and the data processing server may communicate with each other through a 4G network and a 5G network, or may establish a network through a communication Unit installed in the monitoring area, such as an RSU (Road Side Unit), a C-V2X (Cellular communication Unit), and the like, for communicating between the object and the data processing server, and between the information collecting device and the data processing server.

S102: and predicting a predicted route of the movement of the barrier in the monitored area according to the monitoring information acquired by the information acquisition equipment.

Wherein, the information acquisition equipment is arranged in the monitoring area. The monitoring area is located in the acquisition range of the information acquisition equipment.

Since the information collecting device is installed in the monitoring area instead of the object, and the obstacle avoidance control method is applied to a data processing server instead of a processor of the object, the obstacle avoidance control method may be designed based on a vehicle-road cooperative architecture when the object is a vehicle and the monitoring area is located on a road.

The obstacle may be an object other than the object in the monitoring area, and particularly, an object capable of moving, such as a pedestrian, a vehicle, an animal, or the like.

Referring to fig. 2, an embodiment of the present invention provides a schematic diagram of a monitoring area, where the monitoring area is located on a road, the road includes a traffic light, the object is an autonomous vehicle, the monitoring area includes 3 obstacles, namely, an obstacle 1 and an obstacle 3, respectively, where the obstacle 1 is a vehicle, the obstacles 2 and the obstacles 3 are pedestrians, and the monitoring area further includes a communication unit and includes 4 information acquisition devices.

Similar to the manner of obtaining the planned route of the object, in an embodiment of the present invention, the collected movement route of the obstacle may also be determined according to the monitoring information collected by the information collection device, and the predicted route of the obstacle may be predicted by using a kalman algorithm or an extended kalman algorithm according to the movement route of the obstacle. In the case where the image capturing device is included in the information capturing device, the predicted route of the obstacle may be predicted in combination with the movement route of the obstacle according to the direction of the obstacle indicated by the image captured by the image capturing device.

The predicted route of the obstacle may be represented by a set of latitude and longitude coordinates of a location point included in the predicted route.

In addition, when determining the movement route of the acquired obstacle, the obstacle needs to be tracked. In one embodiment of the present invention, a predicted route of an obstacle may be predicted, and an obstacle matching the predicted route may be determined as the obstacle according to a position of the obstacle acquired at a time of acquiring next monitoring information, thereby tracking the obstacle.

In the case where the information acquisition device includes an image acquisition device, the image acquisition device may perform feature identification on images acquired at different acquisition times, for example, the feature may be a color feature of a garment worn by a pedestrian, a feature of five sense organs on the face of the pedestrian, and the like, so as to determine the same pedestrian in the images acquired at different acquisition times, mark the pedestrian with the same number, and track the pedestrian. The identification of information such as license plate numbers, vehicle colors, vehicle brands, vehicle types and the like can also be carried out on the images acquired by the image acquisition equipment at different acquisition moments, so that the same vehicle in the images acquired at different acquisition moments is determined, the vehicles are marked by the same numbers, and then the vehicles are tracked.

S103: and under the condition that the planned route and the predicted route have intersection points, obtaining the barrier speed of the barrier movement according to the monitoring information, and calculating the first time length from the barrier movement to the predicted collision position according to the barrier speed.

Wherein the estimated collision position is determined according to the intersection point.

The estimated collision position may be the intersection point or a region including the intersection point. For example, the region may be a circular or square region centered on the intersection point, and the size of the circular or square region may be a predetermined size. The estimated collision position may be a preset special position near the intersection, for example, the preset special position may be a pedestrian crossing position on a road, an entrance of a warehouse, or the like.

In addition, in a case where the monitored area is located in a road, if the intersection is located at an intersection, the estimated collision position may be the intersection. In a case where the object is a robot and the monitoring area is located in a warehouse, if the intersection is located in a passage between racks, the estimated collision position may be the entire area of the passage.

Referring to fig. 3, an embodiment of the present invention provides a schematic diagram of an intersection of a first planned route and a predicted route.

The monitored area shown in the figure is a road, the object is an autonomous vehicle, the road comprises a communication unit and an obstacle 1-an obstacle 3, a planned route of the autonomous vehicle and a predicted route of the obstacle 1 are shown by a dotted arrow, an intersection point exists between the planned route and the predicted route of the obstacle 1, and the obstacle 1 is an obstacle vehicle.

Referring to fig. 4, an embodiment of the present invention provides a schematic diagram of an intersection of a second planned route and a predicted route.

The monitored area shown in the figure is a road, the object is an automatic driving vehicle, the road comprises a communication unit and an obstacle 1-3, a planned route of the automatic driving vehicle and a predicted route of the obstacle 3 are shown by a dotted arrow, an intersection point exists between the planned route and the predicted route of the obstacle 3, and the obstacle 3 is an obstacle pedestrian.

Specifically, when there is an intersection between the planned route and the predicted route, the object continues to move along the planned route, and the obstacle continues to move along the predicted route, so that the object and the obstacle may collide at the intersection, which affects the safety of the object. Therefore, when there is an intersection between the planned route and the predicted route, it is possible to further determine whether or not there is a possibility of collision between the object and the obstacle.

If the planned route and the predicted route do not have the intersection point, the probability of collision between the object and the obstacle is low, so that whether the object and the obstacle are likely to collide or not can not be continuously judged, the subsequent steps of S103-S105 are not needed, and the calculation resources are saved.

In one embodiment of the invention, the positions of the obstacles at different acquisition times can be determined according to the monitoring information, so that the distance between the positions of the obstacles at different acquisition times can be determined, and the determined distance is divided by the time difference between the acquisition times to obtain the obstacle speed of the obstacles.

In another embodiment of the present invention, the distance between the obstacle and the information acquisition device at different acquisition times may also be determined according to the monitoring information, the determined distance is taken as the length of the hypotenuse, the installation height of the information acquisition device is taken as the length of the right-angle side, and the horizontal distance between the obstacle and the information acquisition device is determined according to the geometric relationship. And determining horizontal distances between the obstacles and the information acquisition equipment at different acquisition moments, and dividing the horizontal distance difference by the time difference between the acquisition moments to obtain the obstacle speed of the obstacles.

Further, the distance from the position where the obstacle is located to the predicted collision position along the predicted route is determined, the determined distance is divided by the speed of the obstacle, and the first duration is calculated.

Referring to fig. 5, an embodiment of the present invention provides a schematic diagram of a first horizontal distance.

The obstacle shown in the figure is a vehicle, the distance between the information acquisition device and the obstacle is d1, the installation height of the information acquisition device is h1, and the horizontal distance c1 between the information acquisition device and the obstacle can be calculated according to the geometric relationship.

Referring to fig. 6, an embodiment of the present invention provides a second schematic illustration of horizontal distance.

The obstacle shown in the figure is a pedestrian, the distance between the information acquisition device and the obstacle is d2, the installation height of the information acquisition device is h2, and the horizontal distance c2 between the information acquisition device and the obstacle can be calculated according to the geometric relationship.

In addition, the obstacle speed of the obstacle may be calculated in the following step a. The first period of time is calculated by the following steps B-D or steps E-H or steps I-J, which will not be described in detail herein.

S104: and obtaining a second time length for the object to travel to the estimated collision position according to the position of the object and the speed of the object.

In one embodiment of the present invention, the distance that the object travels along the planned route from the location of the object to the estimated collision location may be determined, and the second duration may be calculated by dividing the determined distance by the speed of the object.

S105: and when the relation between the first duration and the second duration represents that the object and the obstacle have collision possibility, controlling the object to avoid the obstacle.

Specifically, if the absolute value of the time difference between the first time length and the second time length is less than or equal to a preset time difference, determining that the relationship between the first time length and the second time length represents that the object and the obstacle have collision possibility, and controlling the object to avoid the obstacle.

In a case where the absolute value of the time difference between the first time period and the second time period is equal to or less than a preset time difference, it may be considered that the object and the obstacle may arrive at the estimated collision position at a similar or same timing, and thus the object and the obstacle may collide. For example, the preset time difference may be 5 seconds, 10 seconds, or the like.

In addition, the first time length and the second time length can be considered to be both smaller than a preset arrival time length, so that the possibility of collision between the object and the obstacle can be represented. In the case where both the first and second periods of time are less than a preset arrival period of time, it may be considered that both the object and the obstacle may arrive at the estimated collision position in a short time, and thus the object and the obstacle may collide. For example, the preset arrival time period may be 3 seconds, 10 seconds, or the like.

In an embodiment of the present invention, when there is a possibility of collision between the object and the obstacle, the planned route of the object may be adjusted to avoid the estimated collision position. The object may be controlled to decelerate when it is determined that there is a possibility of obstacle avoidance between the object and the obstacle, and the object may be controlled to travel through the estimated collision position at a slower speed or may be controlled to stop before reaching the estimated collision position, thereby avoiding the obstacle.

Specifically, the adjusted planned route may be sent to the object, so that the object travels according to the adjusted planned route, thereby controlling the object to avoid the obstacle.

And a deceleration command or a stop command can be sent to the object, so that the object is controlled to avoid obstacles.

Otherwise, if there is no possibility of collision between the object and the obstacle, the object may continue to travel according to the current state without changing the speed or the planned route of the object, so that the travel of the object is more stable.

In addition, the object obstacle avoidance can be controlled through steps S105A-S105B, which will not be described in detail herein.

In one embodiment of the present invention, the obstacle speed of the obstacle may be calculated through step a.

Step A: and calculating the barrier speed of the barrier movement by adopting the distance of the barrier relative to the information acquisition equipment at different acquisition moments obtained according to the monitoring information and a preset distance compensation value.

In another embodiment of the present invention, the distance between the obstacle and the information acquisition device at different acquisition times may also be determined according to the monitoring information, and the horizontal distance between the obstacle and the information acquisition device may also be determined. And determining the horizontal distance difference of the horizontal distances between the obstacles and the information acquisition equipment at different acquisition moments. However, the horizontal distance difference is not completely equal to the distance of the obstacle moving between different acquisition times, so that a preset distance compensation value can be accumulated on the horizontal distance, and then the compensation horizontal distance difference of the horizontal distances at different acquisition times is calculated to compensate the difference between the horizontal distance difference and the distance of the obstacle moving. And dividing the time difference between the acquisition moments by the compensated horizontal distance difference to obtain the obstacle speed of the obstacle.

Specifically, the preset distance compensation value may correspond to a position where the obstacle is located.

For example, in the case where the obstacle moves on the road, the distance compensation value may be determined according to a lane in which the obstacle is located. The closer the distance between the lane where the obstacle is located and the information acquisition device is, the smaller the distance compensation value is. In the case of the movement of the obstacle and the storage, the distance compensation value may be determined according to a passage between racks where the obstacle is located. The closer the distance between the channel where the obstacle is located and the information acquisition equipment is, the smaller the distance compensation value is.

The above-mentioned obstacle speed can be calculated by the following formula:

wherein, v is as defined above_nThe speed of the obstacle is t, t and t ' are different acquisition moments, c is the horizontal distance between the obstacle and the information acquisition equipment at the t acquisition moment, b is a distance compensation value corresponding to the t acquisition moment, c ' is the horizontal distance between the obstacle and the information acquisition equipment at the t ' acquisition moment, and b ' is a distance compensation value corresponding to the t ' acquisition moment.

As can be seen from the above, in the solution provided by the embodiment of the present invention, the distance compensation value compensates for the difference between the horizontal distance difference and the moving distance, so that the compensated horizontal distance difference calculated according to the horizontal distance after accumulating the distance compensation value is closer to the moving distance of the obstacle, and the calculated speed of the obstacle is more accurate.

In another embodiment of the present invention, the first period of time for which the obstacle moves to the predicted collision position may be calculated based on the speed of the obstacle through the following steps B to D.

And B: and obtaining a first distance of the obstacle relative to the information acquisition equipment according to the monitoring information.

Specifically, in a case where the information collecting device is a laser radar, a distance between a laser point projected on the surface of the obstacle and the laser radar may be determined as the first distance.

Under the condition that the information acquisition equipment is image acquisition equipment, the position of a pixel point in an obstacle area in an image acquired by the image acquisition equipment can be determined, and the distance between an actual point on the obstacle represented by the pixel point and the image acquisition equipment is determined according to the position of a reference pixel point in the image acquisition equipment and serves as the first distance.

Since the distances between the different actual points on the obstacle and the information collecting device are different, the maximum value, the minimum value, or the average value of the distances between the respective points on the obstacle and the information collecting device may be set as the first distance.

And C: and calculating a second distance between the obstacle and the estimated collision position according to the installation position of the information acquisition equipment and the first distance.

The installation position can be expressed in a three-dimensional coordinate form, so that the installation height of the information acquisition equipment can be determined according to the installation position. And determining the horizontal distance between the barrier and the information acquisition equipment according to the geometric relationship by taking the first distance as the length of the inclined edge and the mounting height as the length of the right-angle edge.

And determining the relative distance between the information acquisition equipment and the estimated collision position according to the position of the information acquisition equipment on the horizontal plane, which is represented by the installation position of the information acquisition equipment, and adding the horizontal distance and the relative distance to obtain a second distance between the obstacle and the estimated collision position.

Step D: and calculating the first time length of the barrier moving to the predicted collision position according to the barrier speed and the second distance.

Specifically, the first duration may be calculated by dividing the second distance by the obstacle speed.

In addition, a speed change interval of the movement of the obstacle can be determined according to the speed of the obstacle, a time interval of the movement of the obstacle to the estimated collision position can be calculated according to the maximum speed and the minimum speed of the speed change interval, and the first time length can be selected in the time interval.

For example, the minimum speed may be obtained by subtracting a preset first obstacle speed difference from the obstacle speed, and the maximum speed may be obtained by adding a preset second obstacle speed difference to the obstacle speed. The first time period may be randomly selected, or a median value of the time period intervals may be selected as the first time period.

As can be seen from the above, according to the scheme provided by the embodiment of the present invention, the second distance between the obstacle and the estimated collision position can be determined according to the first distance between the obstacle and the information acquisition device and the installation position of the information acquisition device, so as to calculate the first duration. Since the specific position of the obstacle does not need to be determined in the calculation process, and only the first distance needs to be determined, the scheme saves the calculation resources required for determining the specific position of the obstacle.

In still another embodiment of the present invention, the first period of time for which the obstacle moves to the predicted collision position may also be calculated by the following steps E to H.

Step E: and calculating the first sub-time length of the barrier moving to the predicted collision position according to the barrier speed.

Specifically, the first sub-period of time for the obstacle to move to the predicted collision position may be calculated through steps B to D.

Or determining the distance from the position where the obstacle is located to the predicted collision position along the predicted route, dividing the determined distance by the speed of the obstacle, and calculating to obtain the first sub-time length.

Step F: and predicting the predicted speed of the obstacle after a preset time according to the speed of the obstacle.

Specifically, the predicted speed of the movement of the obstacle after the preset time period may be predicted by a tracking prediction algorithm, such as a kalman filter algorithm, according to the speed of the obstacle.

The preset time length is less than the first sub-time length, and the preset time length may be the same as the time difference between the acquisition moments of two adjacent information acquisition devices, or may be other preset time lengths.

Step G: and calculating a second sub-time length of the barrier moving to the estimated collision position according to the predicted speed.

Specifically, the distance from the estimated collision position after the obstacle moves at the predicted speed for the preset time period may be calculated, and the second sub-time period may be calculated by dividing the calculated distance by the predicted speed.

The second sub-period may be calculated by the following formula:

wherein, the above-mentioned t_pIs a second sub-period of time, c is a distance between the object and the estimated collision location at the present time, v is_pThe Δ t is the preset time period for the predicted speed.

Step H: and determining the maximum value of the first sub-time length and the second sub-time length as the first time length of the barrier moving to the estimated collision position.

As can be seen from the above, since the speed of the obstacle may change, when determining the time period during which the obstacle moves to the estimated collision position, the predicted speed of the obstacle is predicted in addition to the first sub-time period directly calculated from the speed of the obstacle, the second sub-time period during which the obstacle moves to the estimated collision position after changing speed is determined, and the maximum value of the first sub-time period and the second sub-time period is determined as the first time period. Therefore, the determined first time length can reflect the condition that the speed of the obstacle changes, and the calculated first time length is more accurate.

In still another embodiment of the present invention, the first period of time for which the obstacle moves to the predicted collision position may also be calculated through steps I to J.

Step I: and calculating a third sub-time length of the barrier moving to the predicted collision position according to the barrier speed.

Specifically, the third sub-period of time for the obstacle to move to the predicted collision position may be calculated through steps B to D.

Or determining the distance from the position where the obstacle is located to the predicted collision position along the predicted route, dividing the determined distance by the speed of the obstacle, and calculating to obtain the third sub-time length.

Step J: and calculating the sum of the third sub-time length and a preset time delay to serve as the first time length of the barrier moving to the estimated collision position.

And the preset time delay represents the time length required by the third sub-time length obtained through calculation.

Specifically, the preset time delay may be obtained according to statistics, the information acquisition device acquires monitoring information and sends the monitoring information to the data processing server, and the data processing server calculates an average value, a maximum value, a minimum value, or the like of a sum of time delays of the third sub-period according to the monitoring information.

As can be seen from the above, since the information acquisition device acquires the monitoring information and sends the monitoring information to the data processing server, the data processing server calculates the third sub-time length according to the monitoring information, which requires a certain time delay. And under the influence of time delay, the calculated third sub-time length is not completely equal to the time length from the barrier to the estimated collision position. Therefore, the sum of the third sub-period and the preset time delay is used as the first period, so that the calculated first period can be more accurate.

Referring to fig. 7, an embodiment of the present invention provides a flowchart of a second obstacle avoidance control method, and compared with the foregoing embodiment shown in fig. 1, the foregoing step S105 may be implemented by the following steps S105A-S105B.

S105A: when the relationship between the first time length and the second time length represents that the object and the obstacle have the possibility of collision, calculating safe speed reducing the possibility of collision between the object and the obstacle according to the first time length and the position of the object.

Specifically, a distance between the object and the estimated collision position may be determined based on the position of the object, and a dangerous speed at which the object may collide with the obstacle may be determined based on the determined distance divided by the first time length.

Therefore, the object can be driven at a low speed, and the first preset speed is subtracted from the dangerous speed to obtain a lower safe speed.

The object can also be driven at a high speed, and a second preset speed is added to the dangerous speed to obtain a higher safe speed.

S105B: and controlling the object to avoid the obstacle according to the safe speed.

Specifically, the object may be controlled to travel at a constant speed according to the safe speed, or may be controlled to travel at a variable speed within a range including the safe speed but not including the dangerous speed, so as to control the object to avoid an obstacle.

As can be seen from the above, if the object obstacle avoidance is controlled according to a lower safe speed, the object may reach the estimated collision position after the obstacle passes through the estimated collision position, and if the object obstacle avoidance is controlled according to a higher safe speed, the object may pass through the estimated collision position before the obstacle reaches the estimated collision position. The collision between the object and the obstacle can be avoided, so that the object can be controlled to avoid the obstacle according to the safe speed.

And the first duration is calculated according to monitoring information acquired by information acquisition equipment installed in a monitoring area, and the monitoring information can reflect information of obstacles in a large range, so that after the safety speed is calculated according to the first duration, when the object does not approach the obstacles, the object can be controlled to slowly change speed, and the safety problem caused by the quick speed change of the object is avoided.

In another embodiment of the present invention, the safe speed at which the probability of collision between the object and the obstacle is reduced may be calculated by the following steps K to N.

Step K: the object size of the object is obtained.

The object size may include a length, a width, and a height of the object.

Specifically, the object size may be obtained by receiving an object size transmitted by the object.

In addition, under the condition that the information acquisition equipment comprises the image acquisition equipment, the object region in the image acquired by the image acquisition equipment can be identified, and the pixel point coordinates of each pixel point in the object region are converted into the position coordinates in the world coordinate system according to the pixel point coordinates of the pixel point in the object region and the internal parameters of the image acquisition equipment, so that the position coordinates of each actual point on the object in the world coordinate system are determined, and the size of the object is determined.

Further, in the case where the information acquisition apparatus includes a laser radar, the position coordinates of each actual point on the object in the world coordinate system may be determined based on laser point information of the laser point projected onto the object, thereby determining the size of the object.

Step L: and calculating a first safe speed which reduces the probability of collision between the object and the obstacle in an acceleration mode according to the first duration, the position of the object and the size of the object.

Specifically, the reduction of the probability of the collision between the object and the obstacle in the acceleration mode means that the object passes through the estimated collision position before the obstacle reaches the estimated collision position. That is, the entire object completely passes through the collision estimated position before the obstacle reaches the collision estimated position.

The first safe speed may be calculated by the following formula:

wherein, the above V_r+For the first safe speed, D is the distance between the position of the object and the above-mentioned estimate of the collision, Car_bIs the length of the object, t_finThe first time period is described above.

Step M: and calculating or decelerating a second safe speed which reduces the probability of collision between the object and the obstacle according to the first duration, the position of the object and the size of the object.

The decelerating the probability of the collision between the object and the obstacle is to make the object reach the collision estimated position after the obstacle passes through the collision estimated position. That is, after the obstacle passes through the collision estimated position, any position of the object does not reach the collision estimated position.

The above second safe speed may be calculated by the following formula:

wherein, the above V_r-For the second safe speed, D is the distance between the position of the object and the above-mentioned estimate of the collision, Car_bIs the length of the object, t_finThe first time period is described above.

And step N: and selecting a safe speed from the first safe speed and the second safe speed.

Specifically, since the degree of safety of the object tends to be higher in the case of traveling at a low speed, the above-described second safe speed may be preferentially selected as the safe speed.

In the case where no other objects are included in the planned route of the above object, the first safe speed may be selected as the safe speed.

As can be seen from the above, the object has a certain size, and a collision between any position of the object and the obstacle affects safe driving of the object, and the solution provided by the embodiment of the present invention may calculate, according to the size of the object, a first safe speed at which the object passes through the collision estimated position before the obstacle reaches the collision estimated position, or a second safe speed at which the object reaches the collision estimated position after the obstacle passes through the collision estimated position. And selecting a safe speed from the first safe speed and the second safe speed, so that the probability of collision between any position of the object and the obstacle is reduced under the condition that the object runs according to the safe speed.

In yet another embodiment of the present invention, the safe speed that reduces the probability of collision between the object and the obstacle may also be calculated by the following step O-step P.

Step O: and determining the object type to which the object belongs.

Specifically, the object class sent by the object may be received, so as to determine the object class to which the object belongs.

In addition, in the case where the information acquisition apparatus includes an image acquisition apparatus, the image acquired by the image acquisition apparatus may be recognized, thereby obtaining the object class of the object.

Wherein, the object categories may be: trucks, passenger cars, motorcycles, electric vehicles, and the like.

Step P: and determining the safe speed of the object before the object drives to the estimated collision position according to the first time length, the position of the object and the speed change distance corresponding to the object type.

Specifically, in the process of controlling the object to travel at the conversion speed, the object conversion speed needs a certain time, the object travels a certain shift distance in the process of converting the speed, and the object can be converted to the target speed, and if the shift distance is not considered, the shift distance affects the calculated safe speed.

Due to the performance of the objects, the shifting distances required for changing the speed of the objects of different object classes are different, for example, the shifting distance of a truck is larger than that of a car. Therefore, the shift distance may correspond to the object type, and the shift distance may be different for objects of different object types. The correspondence between the object type and the shift distance may be preset so that the shift distance is determined according to the object type.

In the case of determining the shift distance corresponding to the object type, the safe speed may be calculated by the following equation:

wherein, V_rD is the distance between the position of the object and the estimated collision, a preset shift distance, t is the safe speed_finThe first time period is described above.

As can be seen from the above, the solution provided by the embodiment of the present invention refers to the shift distances corresponding to the objects of different object categories, and refers to the shift distances of the objects in the case of calculating the safe speed, so as to improve the accuracy of the calculated safe speed.

Referring to fig. 8, an embodiment of the present invention provides a flowchart of a third obstacle avoidance control method, and compared with the foregoing embodiment shown in fig. 1, the method further includes steps S106 to S107 before step S102.

S106: and obtaining the motion indication information set in the monitoring area.

Specifically, the motion indication information may include: steering information, speed limit information, traffic prohibition information, passable time information and the like.

The motion indication information can be information sent by equipment such as signal lamps and electronic display screens, and can also be static information displayed by the indicator board. For example, in the case where the monitored area is located on a road, the traffic signal may be a traffic signal lamp, the traffic signal lamp may show the no-passage information by displaying a red light, and the count-down time by a green light may indicate the passable time information. The electronic display screen can be a road congestion state display screen and the like. The sign can be a road traffic sign, such as a speed limit sign, a no-pass sign and the like.

When the object is a robot and the monitoring area is located in a restaurant, the indicator may be an indicator installed in the restaurant and used for indicating the direction of the express robot.

In an embodiment of the present invention, the data processing server may establish a communication connection with the device that sends the motion indication information, so as to obtain the motion indication information sent by the device.

In addition, since the static information displayed on the sign does not change in many cases, the static information may be set in advance.

Furthermore, in a case where the information acquisition device includes an image information acquisition device, the image acquired by the image information acquisition device may be recognized, so as to obtain the motion instruction information.

S107: and determining whether the motion state of the barrier conforms to the motion state indicated by the motion indication information according to the monitoring information acquired by the information acquisition equipment.

Wherein, the motion state may include: the obstacle speed, the obstacle orientation, etc. of the obstacle, and in the case where the obstacle is a pedestrian or an animal, the motion state may further include an obstacle posture such as a running posture, a walking posture, a resting posture, etc.

Specifically, the motion indication information may be compared with the motion state of the obstacle to determine whether the motion state of the obstacle matches the motion state indicated by the motion indication information.

For example, if the movement instruction information includes speed limit information indicating that the speed of the object should be equal to or less than 40km/h, but the obstacle speed of the obstacle is 50km/h, it is determined that the movement state of the obstacle does not match the movement state indicated by the movement instruction information. If the movement instruction information includes no-pass information, but the obstacle is still in a moving state, and if the obstacle still passes through the intersection under the condition that a traffic light shows a red light, the movement state of the obstacle does not accord with the movement state indicated by the movement instruction information.

Since the motion indication information is often information indicating safe motion of an object in the monitored area, in most cases, the object in the monitored area can be safe when traveling according to the motion indication information. Therefore, if the motion state of the obstacle matches the motion state indicated by the motion indication information, it can be considered that the motion state of the obstacle is not abnormal, and the probability of collision with the object is low, so that the obstacle can be disregarded in the process of controlling the object to avoid the obstacle.

Otherwise, the motion state of the obstacle may be considered to be abnormal, and the probability of collision with the object is high, so the step S102 is executed to continue the process of controlling the object to avoid the obstacle.

As can be seen from the above description, since in most cases, the safety of the object can be ensured when the object in the monitoring area travels according to the motion indication information, if the motion state of the obstacle matches the motion state indicated by the motion indication information, it can be considered that the probability of collision between the obstacle and the object is low. The steps of the obstacle avoidance control method may not be executed any more, thereby saving the computational resources consumed by the execution of the obstacle avoidance control method.

Referring to fig. 9, an embodiment of the present invention provides a flowchart of a fourth obstacle avoidance control method, and compared with the foregoing embodiment shown in fig. 8, the step S107 can be implemented by the following steps S107A-S107B.

S107A: and calculating the time required for the barrier to move to the preset position by adopting the barrier position and the barrier speed determined according to the monitoring information.

Specifically, the preset position may be a preset position with a high risk of collision, for example, an intersection of a road, an entrance and an exit of a warehouse, and the like.

In an embodiment of the present invention, a distance between the obstacle position of the obstacle and the preset position may be calculated, and the calculated distance is divided by the speed of the obstacle to obtain a time required for the obstacle to move to the preset position.

S107B: it is determined whether the calculated required time is greater than the transit time indicated by the motion indication information.

If the calculated required time is longer than the passable time indicated by the movement indication information, it is determined that the movement state of the obstacle does not conform to the movement state indicated by the movement indication information, and step S102 is performed.

Specifically, if the required time is longer than the passable time, it is described that the obstacle is difficult to pass through the preset position within the passable time, and the obstacle may accelerate to pass through the preset position or may continue to move through the preset position after the passable time is over. Although the actual motion state of the obstacle at the present time may be in accordance with the motion state indicated by the motion indication information, it is predicted that the possibility that the motion state of the obstacle does not in accordance with the motion state indicated by the motion indication information in the future is high, and therefore it is also considered that the motion state of the obstacle does not in accordance with the motion state indicated by the motion indication information.

For example, when the monitored area is located on a road, the preset position may be located at an intersection, and if the calculated time for the obstacle to reach the intersection is 10 seconds, but the passable time indicated by a traffic light is 5 seconds, it is determined that there is a possibility that the obstacle may run a red light, and it is determined that the movement state of the obstacle does not match the movement state indicated by the movement indication information.

As can be seen from the above, the scheme provided by the embodiment of the present invention can predict whether the motion state of the obstacle may not conform to the motion state indicated by the motion indication information in the future before the motion state of the obstacle does not actually conform to the motion state indicated by the motion indication information, so that the obstacle avoidance of the object can be controlled in advance, and the safety degree of the object in the driving process is improved.

In another embodiment of the present invention, based on the embodiment shown in fig. 9, when the calculated required time for the obstacle to move to the preset position is longer than the passable time indicated by the movement instruction information, it may be determined whether the obstacle speed of the obstacle is decreased.

If so, the obstacle may be considered to be in decelerated motion after determining that the obstacle is difficult to pass through the preset position within the passable time, and the obstacle may be less likely to accelerate through the preset position or continue to move through the preset position after the passable time is over. Otherwise, the movement state of the obstacle is considered to be not in accordance with the movement state indicated by the movement indication information.

In addition, in the case where the obstacle is a pedestrian or an animal and the information collection device includes an image information collection device, the posture of the pedestrian or the animal may be determined by recognizing an image collected by the image collection device. And if the calculated required time for the pedestrian or the animal to move to the preset position is longer than the passable time indicated by the movement indication information, the pedestrian or the animal is in a running posture, the possibility that the pedestrian or the animal accelerates to pass through the preset position or continues to move to pass through the preset position after the passable time is over is high, and the movement state of the obstacle is considered to be not in accordance with the movement state indicated by the movement indication information.

The embodiment of the present invention further provides an electronic device, as shown in fig. 10, which includes a processor 1001, a communication interface 1002, a memory 1003 and a communication bus 1004, wherein the processor 1001, the communication interface 1002 and the memory 1003 complete mutual communication through the communication bus 1004,

a memory 1003 for storing a computer program;

the processor 1001 is configured to implement the steps of any of the above-described obstacle avoidance control methods when executing the program stored in the memory 1003.

When the electronic equipment provided by the embodiment of the invention is applied to control the object to avoid the obstacle, in the scheme provided by the embodiment of the invention, if an intersection point exists between the planned route where the object runs and the predicted route where the obstacle moves, it is shown that if the object continues to run according to the planned route and the obstacle continues to move according to the route, the two risks of collision exist. On the basis, a first time length for the barrier to move to the estimated collision position is determined, and a second time length for the object to travel to the estimated collision position is determined. If the relation between the first duration and the second duration represents that the object and the obstacle have collision possibility, the object and the obstacle may move to the estimated collision position at a similar moment, so that the object can be controlled to avoid the obstacle, and the safety degree of the object in the driving process is ensured.

The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

In another embodiment of the present invention, a computer-readable storage medium is further provided, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements any of the above-mentioned steps of the obstacle avoidance control method.

When the computer program stored in the computer-readable storage medium provided in this embodiment is used to control the object to avoid the obstacle, in the solution provided in this embodiment of the present invention, if there is an intersection between the planned route where the object travels and the predicted route where the obstacle moves, it indicates that there is a risk of collision between the object and the obstacle if the object continues to travel along the planned route and the obstacle continues to move along the route. On the basis, a first time length for the barrier to move to the estimated collision position is determined, and a second time length for the object to travel to the estimated collision position is determined. If the relation between the first duration and the second duration represents that the object and the obstacle have collision possibility, the object and the obstacle may move to the estimated collision position at a similar moment, so that the object can be controlled to avoid the obstacle, and the safety degree of the object in the driving process is ensured.

In another embodiment of the present invention, a computer program product containing instructions is further provided, which when run on a computer, causes the computer to execute any one of the above-mentioned obstacle avoidance control methods.

When the computer program product provided in this embodiment is executed to control the object to avoid the obstacle, in the solution provided in the embodiment of the present invention, if there is an intersection between the planned route where the object travels and the predicted route where the obstacle moves, it indicates that there is a risk of collision between the object and the obstacle if the object continues to travel along the planned route and the obstacle continues to move along the route. On the basis, a first time length for the barrier to move to the estimated collision position is determined, and a second time length for the object to travel to the estimated collision position is determined. If the relation between the first duration and the second duration represents that the object and the obstacle have collision possibility, the object and the obstacle may move to the estimated collision position at a similar moment, so that the object can be controlled to avoid the obstacle, and the safety degree of the object in the driving process is ensured.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the electronic device, the computer-readable storage medium and the computer program product, since they are substantially similar to the method embodiments, the description is relatively simple, and in relation to what can be referred to the partial description of the method embodiments.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. An obstacle avoidance control method, characterized by comprising:

2. The method of claim 1, wherein calculating a first duration of movement of the obstacle to the estimated collision location based on the speed of the obstacle comprises:

3. The method of claim 1, wherein calculating a first duration of movement of the obstacle to the estimated collision location based on the speed of the obstacle comprises:

4. The method of claim 1, wherein calculating a first duration of movement of the obstacle to the estimated collision location based on the speed of the obstacle comprises:

5. The method according to any one of claims 1-4, wherein controlling the object to avoid the obstacle when the relationship between the first duration and the second duration characterizes the object as having a possibility of collision with the obstacle comprises:

6. The method of any one of claims 1-4, wherein the controlling the object to avoid an obstacle comprises:

and controlling the object to avoid the obstacle according to the safe speed.

7. The method of claim 6, wherein calculating a safe speed that reduces a probability of a collision between the object and an obstacle based on the first duration and the position of the object comprises:

obtaining an object size of the object;

selecting a safe speed from the first safe speed and the second safe speed.

8. The method of claim 6, wherein calculating a safe speed that reduces a probability of a collision between the object and an obstacle based on the first duration and the position of the object comprises:

determining an object class to which the object belongs;

9. The method according to any one of claims 1-4, wherein said obtaining an obstacle speed of an obstacle movement from said monitoring information comprises:

10. The method according to any one of claims 1-4, further comprising, prior to predicting the predicted route of movement of the obstacle within the monitored area based on the monitoring information collected by the information collecting device:

obtaining motion indication information set in the monitoring area;

11. The method according to claim 10, wherein the determining whether the motion state of the obstacle conforms to the motion state indicated by the motion indication information according to the monitoring information collected by the information collecting device comprises:

12. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1 to 11 when executing a program stored in the memory.

13. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-11.