CN110979320B - Pedestrian emergency avoidance control method with irregular traveling path - Google Patents
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Abstract
The invention discloses a pedestrian emergency avoidance control method with irregular traveling path, which comprises the steps of establishing a planar two-dimensional coordinate system; identifying the pedestrian through a vehicle-mounted camera, or a millimeter wave radar, or a laser radar, and acquiring the coordinate of the pedestrian relative to the origin of the planar two-dimensional coordinate system; calculating the maximum moving range of the pedestrian; setting a forbidden line at the boundary of the maximum moving range of the pedestrian to form a forbidden area which takes the pedestrian as the center of a circle and takes the forbidden line as a circular arc; and automatically forming an avoidance rule to ensure that no intersection point exists between the automatic driving vehicle and the forbidden area. The invention has the following beneficial effects: as a beneficial supplement of the current automatic driving strategy, the safety of automatic driving is improved for the emergency avoidance of pedestrians or other objects running or intruding disorderly on the running track of the automatic driving vehicle.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a control method and a control device for emergently avoiding pedestrians with irregular paths in an automatic driving process.
Background
The principle of the automatic driving automobile is that an automatic driving system acquires the self direction of the automobile and the external environment information by using a sensing and positioning system, and the information is analyzed and a decision is made by a computing system to control an execution system to realize acceleration, deceleration or steering of the automobile, so that automatic driving is finished without intervention of a driver. Generally, an autonomous vehicle senses the surrounding environment through sensors such as a laser radar, an ultrasonic radar, a millimeter wave radar, and a camera of a sensing system during driving to perform autonomous driving. Chinese patent application CN109557925A discloses an avoidance control method for automatic driving, which makes the automatic driving vehicle accurately judge the moving state of surrounding obstacles when changing lanes and turning, and make an avoidance in time. However, if a pedestrian with an irregular path encounters a particular problem, such as a red light running by a person, or a random running or intrusion on the traveling track of the autonomous vehicle, the control cannot be performed in the technology of the patent, and thus a relatively large safety accident occurs.
Disclosure of Invention
The invention aims to solve the technical problems and provides a pedestrian emergency avoidance control method and device with irregular traveling paths.
In order to achieve the purpose, the invention provides the following scheme:
an emergency avoidance control method for pedestrians with irregular traveling paths comprises the following steps:
step S1, establishing a plane two-dimensional coordinate system;
step S2, identifying the pedestrian by a vehicle-mounted camera, a millimeter wave radar or a laser radar with reference to the plane two-dimensional coordinate system, and acquiring the coordinates (Xi, Yi) of the pedestrian i relative to the origin of the plane two-dimensional coordinate system;
step S3, calculating the maximum moving range of the pedestrian i;
step S4, in the plane two-dimensional coordinate system, setting a forbidden line at the boundary of the maximum moving range of the pedestrian i to form a forbidden area taking the pedestrian i as the center of a circle and taking the forbidden line as a circular arc;
and step S5, automatically forming an avoidance rule to ensure that the automatic driving vehicle has no junction with the forbidden area.
Preferably, in step S1, the center point of the front bumper of the autonomous vehicle is set as the origin (0,0), the forward direction of the vehicle is set as the X-axis positive direction, the direction perpendicular to the X-axis through the origin is set as the Y-axis positive direction, and the left side direction of the vehicle is set as the Y-axis negative direction.
Preferably, step S3 specifically includes,
the position change of the pedestrian i in unit time is obtained through the vehicle-mounted camera, the millimeter wave radar and the laser radar, and whether the pedestrian i is a pedestrian with an irregular walking path or not is judged.
Preferably, the step of "determining whether the pedestrian is a pedestrian with an irregular path" includes acquiring a traveling direction of the pedestrian i in the planar two-dimensional coordinate system, and determining whether the traveling direction is the same as a regular direction in the automatic travel map.
Preferably, the maximum average speed of the currently known hectometer is taken as the maximum speed Vmax of the pedestrian and taken as the upper speed limit Vmax _ i of the pedestrian i, and the Vmax _ i is less than or equal to Vmax;
the determination method of Vmax _ i is that twice of the maximum speed Vmax _ detect detected in the tracking process is used as Vmax _ i, and the Vmax _ i is Vmax _ detect × 2;
by the formula S ═ pi · (Vmax _ i ·) t2And calculating to obtain the maximum moving range of the pedestrian.
Or, taking the maximum acceleration of the currently known hectometer as the maximum acceleration Amax of the pedestrian accelerated from rest to Vmax, and taking the maximum acceleration Amax _ i as the acceleration upper limit Amax _ i of the pedestrian i, wherein Amax _ i is less than or equal to Amax;
the Amax _ i is determined by detecting the acceleration increase condition in the time period t of the pedestrian i, and then the Amax _ i is updated to be a detected value;
by the formula S ═ pi · (1/2. Amax _ i · t)2)2And calculating to obtain the maximum moving range of the pedestrian.
Preferably, the time period t is less than or equal to 2 seconds.
Preferably, step S5 specifically includes setting the avoidance starting time point as a time point when a pedestrian with an irregular path is detected.
Preferably, in step S5, specifically,
s51, sampling discrete path points by taking the position just bypassing the forbidden area as a terminal point, wherein the sampling range is within the passable space detected by the sensor equipment and is outside the forbidden area;
s52, selecting one of the obtained sampling points with the shortest path;
and (3) taking the cubic spline curve as a target, and performing parameter fitting according to the path sampling point, wherein the fitting formula is as follows:
Y(X)＝a0+a1*X+a2*X2+a3*X3
the curvature in the X axis direction is determined from the curve: y (X) "═ 2 a2+6 a 3X
The vehicle turning radius R is found from the curvature: r1/(2 a2+6 a 3X)
Obtaining a steering angle Theta according to the turning radius R and the vehicle wheel base L:
Theta＝arctan(L*(2*a2+6*a3*X))。
preferably, if the sampling point is not available, the bypassing is abandoned, the deceleration is carried out by taking the edge of the forbidden area as a target, and the sampling of the path point is carried out again after the passable space is changed.
The invention has the following beneficial effects: as a beneficial supplement of the current automatic driving strategy, the safety of automatic driving is improved for the emergency avoidance of pedestrians or other objects running or intruding disorderly on the running track of the automatic driving vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a control method for emergency avoidance of pedestrians with irregular paths during automatic driving according to the present invention;
fig. 2 is an emergency avoidance trajectory diagram for an autonomous vehicle according to 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.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIG. 1, the invention discloses an emergency avoidance control method for pedestrians with irregular traveling paths. It should be noted that, in addition to pedestrians, other objects running or intruding randomly on the travel track of the autonomous vehicle may also be applied to the method of the present invention.
The invention specifically comprises the following steps:
step S1, establishing a plane two-dimensional coordinate system;
step S2, identifying the pedestrian by a vehicle-mounted camera, a millimeter wave radar or a laser radar with reference to the plane two-dimensional coordinate system, and acquiring the coordinates (Xi, Yi) of the pedestrian i relative to the origin of the plane two-dimensional coordinate system;
step S3, calculating the maximum moving range of the pedestrian i;
step S4, in the plane two-dimensional coordinate system, setting a forbidden line at the boundary of the maximum moving range of the pedestrian i to form a forbidden area taking the pedestrian i as the center of a circle and taking the forbidden line as a circular arc;
and step S5, automatically forming an avoidance rule to ensure that the automatic driving vehicle has no junction with the forbidden area.
Specifically, in step S1, the center point of the front bumper of the autonomous vehicle is set as the origin (0,0), the forward direction of the vehicle is set as the X-axis positive direction, the direction perpendicular to the X-axis through the origin is set as the Y-axis positive direction, and the left side direction of the vehicle is set as the Y-axis positive direction and the right side direction is set as the Y-axis negative direction. Of course, if the autonomous vehicle has an original vector map, its map may be used, i.e. this step may be omitted.
The step S3 specifically includes obtaining the position change of the pedestrian i in the unit time through a vehicle-mounted camera, a millimeter wave radar, and a laser radar, and determining whether the pedestrian i is a pedestrian with an irregular path. The step of "determining whether it is a pedestrian with irregular path" specifically includes acquiring a traveling direction of the pedestrian i in the planar two-dimensional coordinate system, and determining whether the traveling direction is the same as a regular direction in the automatic travel map. When a pedestrian with irregular path suddenly breaks into the traveling track of the automatic driving vehicle, the behavior is different from the road type/direction in the automatic driving vector map or deviates from the basic traffic regulation, and the behavior is considered as the pedestrian with irregular path.
There are two ways to calculate the maximum range of motion of the pedestrian i, and it is preferable to select the one having the larger calculated range.
Taking the currently known maximum average speed of hectometer as the maximum speed Vmax of the pedestrian (for example, the average speed recorded in the hectometer world of Borter is 10.4m/s), and carrying out tracking analysis on the motion process of a certain pedestrian i detected for a period of time to predict the upper limit Vmax _ i of the speed of the pedestrian i, wherein the Vmax _ i is less than or equal to the Vmax;
the determination method of Vmax _ i is that twice of the maximum speed Vmax _ detect detected in the tracking process is used as Vmax _ i, and the Vmax _ i is Vmax _ detect × 2;
by the formula S ═ pi · (Vmax _ i ·) t2And calculating to obtain the maximum moving range of the pedestrian after tracking analysis. The time period is controlled to be t less than or equal to 2 seconds.
Alternatively, the maximum acceleration at which a pedestrian accelerates from a standstill to Vmax is taken as the maximum acceleration Amax at which the pedestrian accelerates from a standstill (for example, the maximum acceleration at Boltet start is 9.5 m/s)2) The acceleration upper limit Amax _ i of the pedestrian i is used, wherein Amax _ i is less than or equal to Amax;
the Amax _ i is determined by detecting the acceleration increase condition in the time period t of the pedestrian i, and then the Amax _ i is updated to be a detected value; for example, the initial value is set to 3m/s when the pedestrian is just detected2If the acceleration of the pedestrian is increased in the subsequent observation analysis, updating Amax _ i to be an observed value;
by the formula S ═ pi · (1/2. Amax _ i · t)2)2And calculating to obtain the maximum moving range of a certain pedestrian subjected to tracking analysis. The time period is controlled to be t less than or equal to 2 seconds.
Step S5 sets the avoidance start time point as a time point when a pedestrian with an irregular path is detected, or when a vehicle-mounted camera, a millimeter wave radar, or a laser radar recognizes that a certain obstacle is a non-pedestrian target but finds that there is mobility, an avoidance measure should be taken for the obstacle.
Step S5 specifically includes:
s51, sampling discrete path points by taking the position just bypassing the forbidden area as a terminal point, wherein the sampling range is within the passable space detected by the sensor equipment and is outside the forbidden area; as shown in fig. 2.
S52, selecting one of the obtained sampling points with the shortest path;
and (3) taking the cubic spline curve as a target, and performing parameter fitting according to the path sampling point, wherein the fitting formula is as follows:
Y(X)＝a0+a1*X+a2*X2+a3*X3
the curvature in the X axis direction is determined from the curve: y (X) "═ 2 a2+6 a 3X
The vehicle turning radius R is found from the curvature: r1/(2 a2+6 a 3X)
Obtaining a steering angle Theta according to the turning radius R and the vehicle wheel base L:
Theta＝arctan(L*(2*a2+6*a3*X))；
wherein X, Y is the coordinate value on the track.
Preferably, if the sampling point is not available, the bypassing is abandoned, the deceleration is carried out by taking the edge of the forbidden area as a target, and the sampling of the path point is carried out again after the passable space is changed.
The invention has the following beneficial effects: as a beneficial supplement of the current automatic driving strategy, the safety of automatic driving is improved for the emergency avoidance of pedestrians or other objects running or intruding disorderly on the running track of the automatic driving vehicle.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. An emergency avoidance control method for pedestrians with irregular traveling paths is characterized by comprising the following steps:
step S1, establishing a plane two-dimensional coordinate system;
step S2, identifying the pedestrian by a vehicle-mounted camera, a millimeter wave radar or a laser radar with reference to the plane two-dimensional coordinate system, and acquiring the coordinates (Xi, Yi) of the pedestrian i relative to the origin of the plane two-dimensional coordinate system;
step S3, calculating the maximum moving range of the pedestrian i;
step S4, in the plane two-dimensional coordinate system, setting a forbidden line at the boundary of the maximum moving range of the pedestrian i to form a forbidden area taking the pedestrian i as the center of a circle and taking the forbidden line as a circular arc;
step S5, automatically forming an avoidance rule to ensure that the automatic driving vehicle and the forbidden area have no junction;
step S3 further comprises the step of taking the currently known maximum average speed of hectometer as the maximum speed Vmax of the pedestrian, and taking the maximum average speed as the upper speed limit Vmax _ i of the pedestrian i, wherein the Vmax _ i is less than or equal to Vmax;
the determination method of Vmax _ i is that twice of the maximum speed Vmax _ detect detected in the tracking process is used as Vmax _ i, and the Vmax _ i is Vmax _ detect × 2;
by the formula S ═ pi · (Vmax _ i ·) t2And calculating to obtain the maximum moving range of the pedestrian.
2. The method according to claim 1, wherein step S1 is implemented by taking a midpoint of a front bumper of the autonomous vehicle as an origin (0,0), a forward traveling direction of the vehicle as an X-axis positive direction, a direction perpendicular to the X-axis through the origin as a Y-axis, a left direction of the vehicle as a Y-axis positive direction, and a right direction as a Y-axis negative direction.
3. The method according to claim 1, wherein step S3 specifically comprises,
the position change of the pedestrian i in unit time is obtained through the vehicle-mounted camera, the millimeter wave radar and the laser radar, and whether the pedestrian i is a pedestrian with an irregular walking path or not is judged.
4. The method according to claim 3, wherein the step of determining whether the pedestrian is a pedestrian with irregular path of travel includes acquiring a traveling direction of the pedestrian i in the planar two-dimensional coordinate system, and determining whether the traveling direction is the same as a regular direction in the automatic travel map.
5. The method according to claim 1, characterized in that step S3 is further replaced by starting the maximum acceleration of a presently known hundred meters as the maximum acceleration Amax of the pedestrian accelerating from standstill to Vmax as the acceleration upper limit Amax _ i of the pedestrian i, where Amax _ i ≦ Amax;
the Amax _ i is determined by detecting the acceleration increase condition in the time period t of the pedestrian i, and then the Amax _ i is updated to be a detected value;
by the formula S ═ pi · (1/2. Amax _ i · t)2)2And calculating to obtain the maximum moving range of the pedestrian.
6. The method according to claim 5, characterized in that the period of time t ≦ 2 seconds.
7. The method according to claim 1, wherein step S5 specifically includes setting the time point of the initiation of avoidance to a time point when a pedestrian with an irregular path is detected.
8. The method according to claim 1, wherein step S5 is embodied as,
s51, sampling discrete path points by taking the position just bypassing the forbidden area as a terminal point, wherein the sampling range is within the passable space detected by the sensor equipment and is outside the forbidden area;
s52, selecting one of the obtained sampling points with the shortest path;
and (3) taking the cubic spline curve as a target, and performing parameter fitting according to the path sampling point, wherein the fitting formula is as follows:
Y(X)＝a0+a1*X+a2*X2+a3*X3
the curvature in the X axis direction is determined from the curve: y (X) "═ 2 a2+6 a 3X
The vehicle turning radius R is found from the curvature: r1/(2 a2+6 a 3X)
Obtaining a steering angle Theta according to the turning radius R and the vehicle wheel base L:
Theta＝arctan(L*(2*a2+6*a3*X))。
9. the method of claim 8, wherein if a sampling point is not available, the detour is abandoned to stop decelerating with the goal of stopping at the forbidden area edge, and the sampling of waypoints is performed again after a change in passable space.
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