CN111469836B - Obstacle avoidance method and device based on vehicle-mounted unit and road side unit, and storage medium - Google Patents
Obstacle avoidance method and device based on vehicle-mounted unit and road side unit, and storage medium Download PDFInfo
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- CN111469836B CN111469836B CN202010128307.5A CN202010128307A CN111469836B CN 111469836 B CN111469836 B CN 111469836B CN 202010128307 A CN202010128307 A CN 202010128307A CN 111469836 B CN111469836 B CN 111469836B
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
Abstract
The invention relates to an obstacle avoidance method, equipment and a storage medium based on an on-board unit and a road side unit, wherein the method is used for improving the accuracy of obstacle avoidance decision of an automatic driving vehicle and comprises the following steps: s1, controlling a vehicle-mounted unit to acquire the position, speed and direction of an obstacle in front of a vehicle, and calculating the movement track of the obstacle according to the position, speed and direction of the obstacle; s2, judging the motion attribute of the barrier according to the moving track; s3, if the judgment result shows that the barrier is dynamic, starting a vehicle-mounted unit to predict whether the moving track of the vehicle and the barrier is possible to collide, and controlling the vehicle to park and avoid based on the prediction result; and S4, if the judgment result shows that the barrier is static, controlling the vehicle-mounted unit to acquire the road closing information of the current road from the road side unit, and controlling the vehicle to execute road changing operation or bypass the barrier to drive along the original road according to the road closing information.
Description
Technical Field
The invention relates to an automatic driving technology, in particular to an obstacle avoidance method, equipment and a storage medium based on a vehicle-mounted unit and a road side unit.
Background
In the prior art, an obstacle avoidance control method for an automatic driving vehicle mainly depends on collecting the position, speed and direction of obstacles around the vehicle, calculating the moving track of the obstacles according to the position, speed and direction, and controlling the vehicle to avoid based on the moving track. The method simply considers the space relative relationship between the vehicle and the obstacle, and cannot cope with the complex and changeable actual scene of the road, so that the obstacle avoidance control often has wrong judgment.
Disclosure of Invention
The invention aims to improve the accuracy of obstacle avoidance decision of the automatic driving vehicle.
Therefore, the obstacle avoidance method based on the vehicle-mounted unit and the road side unit is provided, the vehicle-mounted unit is an automatic driving system consisting of a laser sensor, a vision sensor, a position sensor, a front radar, a rear radar and a main control computer on an automatic driving vehicle, the road side unit is internet communication equipment which is arranged beside a road at equal intervals, and the obstacle avoidance method comprises the following steps:
s1, controlling a vehicle-mounted unit to acquire the position, speed and direction of an obstacle in front of a vehicle, and calculating the movement track of the obstacle according to the position, speed and direction of the obstacle;
s2, judging the motion attribute of the barrier according to the moving track;
s3, if the judgment result shows that the barrier is dynamic, starting a vehicle-mounted unit to predict whether the moving track of the vehicle and the barrier is possible to collide, and controlling the vehicle to park and avoid based on the prediction result;
and S4, if the judgment result shows that the obstacle is static, controlling an on-board unit to acquire road closing information of the current road from a road side unit, and controlling a vehicle to execute a road changing operation or bypass the obstacle to drive along the original road according to the road closing information.
Preferably, the operation of predicting a collision further comprises:
calculating the movement track of the vehicle based on the position, the speed and the direction of the vehicle;
and analyzing whether the moving track of the vehicle and the moving track of the obstacle have intersection or not, if so, determining that the vehicle and the obstacle collide, and then executing the parking avoidance operation.
Preferably, the parking avoidance operation further includes:
calculating the brake sliding distance at the current vehicle speed based on the brake sliding theory;
and starting the vehicle-mounted unit to perform locking braking when the distance from the intersection is X meters, wherein X is equal to the sum of the sliding distance of the brake and the set safety distance.
Preferably, the parking avoidance operation further includes:
and starting the vehicle-mounted unit to acquire the weather information of the current road through the road side unit, and selectively setting the safe distance based on the weather information.
Preferably, the controlling the own vehicle to perform a switch operation or to bypass an obstacle further includes:
if the current road prohibits the vehicles from passing, controlling the vehicle-mounted unit to re-plan the route; and/or
And if the current road allows the vehicle to pass, taking the barrier as a static simulated vehicle to overtake.
Preferably, the overtaking operation further comprises:
and starting the vehicle-mounted unit to detect whether a vehicle or an obstacle exists in the left front of the vehicle, if not, controlling the vehicle to overtake from the left side of the simulated vehicle, and recovering the original speed after the overtaking is finished.
Preferably, the step S1 further includes:
the image of the obstacle is shot to be uploaded to the road side unit, and then the vehicle is controlled to decelerate and move forwards to wait for the feedback of the road side unit;
and starting the vehicle-mounted unit to send a prompt to the vehicle owner according to the feedback information of the road side unit.
There is also provided an apparatus, wherein the apparatus comprises:
a controller; and (c) a second step of,
a memory arranged to store computer executable instructions which, when executed, cause the controller to implement the method described above.
A computer-readable storage medium is also provided, wherein the computer-readable storage medium stores one or more programs which, when executed by a controller, implement the above-described method.
Has the advantages that:
according to the method, the movement attributes of the obstacles are subdivided, the obstacles are classified and processed based on the movement attributes, and the road side unit is combined to acquire the traffic control information of the current road, so that the obstacle avoidance decision can be more suitable for the road environment, and the accuracy of the obstacle avoidance decision of the automatic driving vehicle is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart illustrating the implementation of a method according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an electronic device according to the present invention;
fig. 3 is a schematic structural diagram of a computer-readable storage medium according to the present invention.
Detailed Description
In this embodiment, the on-board unit refers to an automatic driving system composed of a laser sensor (Ibeo), a vision sensor (binocular vision camera), a position sensor (GPS), front and rear radars, and a main control computer (Nuvo-5095 GC industrial personal computer) on a conventional automatic driving vehicle, the roadside unit refers to a plurality of internet communication devices arranged at the side of a road at equal intervals, and each internet communication device is in internet communication with a traffic control center.
The obstacle avoidance control method for the autonomous driving vehicle of the embodiment is executed based on the vehicle-mounted unit and the road side unit, and specifically includes the following steps as shown in fig. 1:
s1, controlling a vehicle-mounted unit to acquire the position and the speed of an obstacle in front of a vehicle, and calculating the moving track of the obstacle according to the position and the speed of the obstacle.
Specifically, the vehicle-mounted unit collects the position change of the obstacle within a period of time by utilizing a laser sensor of the vehicle-mounted unit to cooperate with radar equipment, measures and calculates the speed change and direction information of the obstacle according to the position change and the collection interval, and then estimates the moving track of the obstacle in a short time in the future by adopting a conventional track prediction algorithm and combining three parameters of position, speed and direction.
And S2, judging the motion attribute of the barrier according to the moving track.
The motion attribute specifically refers to whether the motion state of the obstacle belongs to a dynamic state or a static state, specifically, if no change is sent in the position of the obstacle within a certain time, the obstacle is determined to be static, otherwise, the obstacle is directly determined to be dynamic.
And S3, if the judgment result shows that the barrier is dynamic, starting a vehicle-mounted unit to predict whether the moving track of the vehicle and the barrier is possible to collide, and controlling the vehicle to park and avoid based on the prediction result.
Specifically, when the movement attribute of the obstacle is dynamic, the on-board unit acquires three parameters of the position, the speed and the direction of the own vehicle within a period of time by using the position sensor and the on-board system of the on-board unit, and then estimates the moving track of the own vehicle based on the same track prediction algorithm.
After the movement track of the vehicle is obtained, whether a virtual intersection exists between the movement track of the vehicle and the movement track of the obstacle or not is analyzed, if yes, the vehicle and the obstacle are considered to collide with each other, and then the conventional method is utilizedBrake slip theory S = v 2 And 300, calculating a brake sliding distance S at the current vehicle speed v, and then starting the vehicle-mounted unit to lock the brake when the distance is X meters away from the intersection position, wherein X is equal to the sum of the brake sliding distance S and the set safety distance.
After the vehicle is parked and avoided, the vehicle-mounted unit is controlled to acquire the position of the obstacle in real time, and the vehicle is restarted to run at the original speed when the vehicle moves out of the front of the vehicle.
And S4, if the judgment result shows that the obstacle is static, controlling an on-board unit to acquire road closing information of the current road from a road side unit, and controlling a vehicle to execute a road changing operation or bypass the obstacle to drive along the original road according to the road closing information.
Specifically, when the movement attribute of the barrier is static, the specific category of the static barrier needs to be subdivided, if the static barrier belongs to a traffic control signboard or other common barriers, the vehicle-mounted unit is controlled to wirelessly communicate with the road side unit, the road side unit is used for inquiring whether the current road section temporarily prohibits the vehicle from passing through or not to the traffic control center, if so, the vehicle-mounted unit is controlled to re-plan the route at the same end point based on the global positioning system, and the vehicle continues to run by using a new route, so that the traffic control condition is intelligently processed; otherwise, the current road is considered to be allowed to pass through, and the static barrier is only a common barrier, so that the barrier is used as a static simulated vehicle to carry out overtaking treatment.
The overtaking processing specifically refers to starting a vehicle-mounted unit to detect whether a vehicle or an obstacle exists in front of the left side of the vehicle, if not, controlling the vehicle to overtake from the left side of the simulated vehicle at a set speed at a uniform speed, and recovering the original speed after the overtaking is finished.
According to the method, the movement attributes of the obstacles are subdivided, the obstacles are classified based on the movement attributes, and the traffic control information of the current road is acquired by combining the road side unit, so that the obstacle avoidance decision can be more suitable for the road environment, and the accuracy of the obstacle avoidance decision of the automatic driving vehicle is improved.
Further, in step S3, the safe distance is set to be adaptively adjustable according to the weather, specifically, the safe distance required to be set for testing various speeds in advance in various weather (such as rainy days, snowy days, windy days, etc.), the mapping relationship is stored by building a table, the table is stored in the main control computer in advance, when the parking avoidance is actually implemented, the vehicle-mounted unit is started to obtain the weather information of the current road through the road side unit, and then the corresponding safe distance is selected by checking the table according to the weather and the current vehicle speed, so as to adaptively adapt to the change of the road environment, thereby ensuring the parking safety.
Further, in step S1, when the vehicle-mounted unit detects that an obstacle appears in front of the vehicle, the vehicle-mounted unit starts a vision sensor thereof to shoot an image of the obstacle and uploads the image to the traffic control center through the roadside unit, and synchronously sends an image confirmation request to request a worker in the traffic control center to confirm the specific situation of the current obstacle in real time, so as to realize alarming, and simultaneously controls the vehicle to decelerate and crawl to wait for the traffic control center to feed back through the roadside unit. And the staff in the traffic control center confirms the condition of the barrier according to the image, issues an assistance instruction if the on-site vehicle assistance is needed for on-site processing (such as the wounded sending medical treatment and rescue), and transmits the assistance instruction to the vehicle-mounted unit through the road side unit. If the vehicle-mounted unit receives the assistance instruction, the vehicle-mounted unit sends a prompt to the vehicle owner through the vehicle-mounted display screen and the sound box so as to awaken the vehicle owner to take over the site processing and realize the site rescue.
It should be noted that:
the method of this embodiment can be transformed into program steps and apparatuses that can be stored in a computer storage medium and executed by a controller.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the devices in an embodiment may be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
Various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the apparatus for detecting a wearing state of an electronic device according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 2 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device conventionally comprises a processor 21 and a memory 22 arranged to store computer executable instructions (program code). The memory 22 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 22 has a storage space 23 storing program code 24 for performing any of the method steps in the embodiments. For example, the memory space 23 for program code may comprise respective program code 24 for implementing the various steps in the above method, respectively. The program code can be read from and written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 3. The computer readable storage medium may have memory segments, memory spaces, etc. arranged similarly to the memory 22 in the electronic device of fig. 2. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores program code 31 for performing the steps of the method according to the invention, i.e. program code readable by a processor such as 21, which when run by an electronic device causes the electronic device to perform the individual steps of the method described above.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (6)
1. The obstacle avoidance method based on the vehicle-mounted unit and the road side unit, wherein the vehicle-mounted unit is an automatic driving system consisting of a laser sensor, a vision sensor, a position sensor, front and rear radars and a master control computer on an automatic driving vehicle, and the road side unit is a network communication device which is arranged beside a road at equal intervals, and is characterized by comprising the following steps of:
the method comprises the following steps that S1, a vehicle-mounted unit is controlled to obtain the position, the speed and the direction of an obstacle in front of a vehicle, and the moving track of the obstacle is calculated according to the position, the speed and the direction of the obstacle, wherein when the vehicle-mounted unit detects that the obstacle appears in front of the vehicle, the vehicle-mounted unit shoots an image of the obstacle and uploads the image to a traffic control center through a road side unit, and synchronously sends an image confirmation request to request workers in the traffic control center to confirm the current obstacle condition in real time, controls the vehicle to decelerate and crawl to wait for the traffic control center to feed back through the road side unit, and awakens a vehicle owner to take over on-site processing after receiving an assistance instruction transmitted to the vehicle-mounted unit by the workers in the traffic control center through the road side unit;
s2, judging the motion attribute of the barrier according to the moving track;
s3, if the judgment result shows that the barrier is dynamic, starting a vehicle-mounted unit to predict whether the moving track of the vehicle and the barrier is possible to collide, and controlling the vehicle to stop and avoid based on the prediction result, wherein the operation of predicting the collision further comprises the following steps: calculating the movement track of the vehicle based on the position, the speed and the direction of the vehicle, analyzing whether the movement track of the vehicle is intersected with the movement track of the obstacle or not, and if so, determining that the vehicle and the obstacle collide with each other, and then executing the parking avoidance operation; the parking avoidance operation further includes: calculating a brake sliding distance at the current vehicle speed based on a brake sliding theory, starting the vehicle-mounted unit to perform locking brake when the vehicle-mounted unit is X meters away from the intersection location, wherein X is equal to the sum of the brake sliding distance and a set safety distance, starting the vehicle-mounted unit to acquire weather information of the current road through the road side unit, and selectively setting the safety distance based on the weather information;
and S4, if the judgment result shows that the barrier is static, controlling the vehicle-mounted unit to acquire the road closing information of the current road from the road side unit, and controlling the vehicle to execute a road changing operation or bypass the barrier to drive along the original road according to the road closing information.
2. The method according to claim 1, wherein the controlling the own vehicle to perform a switch operation or to bypass an obstacle, further comprises:
if the current road prohibits the vehicles from passing, controlling the vehicle-mounted unit to re-plan the route; and/or
And if the current road allows the vehicle to pass, taking the barrier as a static simulated vehicle to overtake.
3. The method of claim 2, wherein the cut-in operation further comprises:
and starting the vehicle-mounted unit to detect whether a vehicle or an obstacle exists in the left front of the vehicle, if not, controlling the vehicle to overtake from the left side of the simulated vehicle, and recovering the original speed after the overtaking is finished.
4. The method of claim 1, wherein the step S1 further comprises:
the image of the obstacle is shot to be uploaded to the road side unit, and then the vehicle is controlled to decelerate and move forwards to wait for the feedback of the road side unit;
and starting the vehicle-mounted unit to send a prompt to the vehicle owner according to the feedback information of the road side unit.
5. A computer-readable storage medium, storing a computer program which, when executed by a processor, implements the method of any one of claims 1-4.
6. The utility model provides an keep away barrier equipment based on-board unit and road side unit, wherein, should keep away barrier equipment includes:
a controller; and (c) a second step of,
a memory arranged to store computer executable instructions that, when executed, cause the controller to implement the method of any one of claims 1-4.
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| CN117389937B (en) * | 2023-12-11 | 2024-03-08 | 上海建工一建集团有限公司 | Calculation method of obstacle avoidance data of vehicle, computer and readable storage medium |
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