CN111994064A - Vehicle control method, device, equipment, system and storage medium - Google Patents
Vehicle control method, device, equipment, system and storage medium Download PDFInfo
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- CN111994064A CN111994064A CN202010898642.3A CN202010898642A CN111994064A CN 111994064 A CN111994064 A CN 111994064A CN 202010898642 A CN202010898642 A CN 202010898642A CN 111994064 A CN111994064 A CN 111994064A
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a vehicle control method, a device, equipment, a system and a storage medium, wherein the method comprises the following steps: in the process of backing a vehicle, detecting the position information of an obstacle through a radar, and determining the position information of the obstacle through a vehicle environment image shot by a camera; updating an obstacle map based on the position information of the obstacle detected by the radar and the obstacle position information determined by the vehicle environment image; and planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track, and controlling the vehicle to move along the reversing path. The technical scheme provided by the embodiment of the invention can enable the vehicle to return along the original path, avoid collision risk and improve the efficiency of the vehicle in the return process.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobiles, in particular to a vehicle control method, device, equipment, system and storage medium.
Background
At present, the following situations often occur in urban traffic life: when a driver drives a vehicle to a road, the driver finds that the vehicle cannot continue to move forward and needs to back up, or when finding a parking space, the driver finds that no free parking space needs to back up and needs to back up.
In the existing reversing method in the related art, the reversing path cannot be well planned due to limited obstacle information recorded in the reversing process, and in addition, the reversing process needs to be repeatedly adjusted, so that a large amount of time is wasted.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a vehicle control device, vehicle control equipment, a vehicle control system and a storage medium, which can enable a vehicle to return along an original path, avoid collision risks and improve the efficiency of the vehicle in a return process.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
in the process of backing a vehicle, detecting the position information of an obstacle through a radar, and determining the position information of the obstacle through a vehicle environment image shot by a camera;
updating an obstacle map based on the position information of the obstacle detected by the radar and the obstacle position information determined by the vehicle environment image;
and planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track, and controlling the vehicle to move along the reversing path.
In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:
the determining module is used for detecting the position information of the obstacle through a radar and determining the position information of the obstacle through an image shot by a camera in the process of backing a vehicle;
the updating module is used for updating the obstacle map based on the position information of the obstacle detected by the radar and the obstacle position information determined by the image shot by the camera;
and the planning/moving module is used for planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track and controlling the vehicle to move along the reversing path.
In a third aspect, an embodiment of the present invention further provides a vehicle control system, where the system includes a parking assist controller, a radar, a camera, a steering controller, and a brake controller; the parking assist controller includes the vehicle control device according to the embodiment of the invention;
the radar is used for detecting position information of an obstacle;
the camera is used for shooting an environment image of the vehicle;
the steering controller is used for controlling the steering of the vehicle based on the steering request;
the brake controller is used for controlling the vehicle brake based on the brake request.
In a fourth aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the vehicle control method according to any one of the embodiments of the invention.
In a fifth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program is used for implementing the vehicle control method according to any one of the embodiments of the present invention when being executed by a processor.
According to the technical scheme provided by the embodiment of the invention, the position information of the obstacle is detected by the radar and the information of the obstacle is determined by the vehicle environment image shot by the camera, the obstacle map is updated by the information of the obstacle obtained by the detection of the radar and the camera, so that more comprehensive obstacle information can be obtained in the process of backing, a backing path is planned based on the updated obstacle map and the advancing running track of the vehicle, the vehicle is controlled to move along the backing path, the collision can be accurately avoided, the vehicle can return along the original path, and the efficiency of the vehicle in the return process is improved.
Drawings
FIG. 1 is a schematic flow chart diagram of a vehicle control method provided by an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a vehicle control method provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle control device provided by an embodiment of the invention;
FIG. 4 is a diagram of a system architecture to which embodiments of the present invention are applicable;
fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, where the method may be performed by a vehicle control device, which may be implemented in software and/or hardware, and the device may be configured in a parking assist controller, which may be configured in a vehicle. The method is applied to a scene needing reversing, and optionally, the method is applied to a scene which is driven on a narrow road and needs reversing.
As shown in fig. 1, the technical solution provided by the embodiment of the present invention includes:
s101, in the process of advancing the vehicle, constructing an obstacle map through position information of obstacles detected by a radar and obstacle position information determined through a vehicle environment image shot by a camera.
In the embodiment of the present invention, the radar includes an ultrasonic radar, a millimeter wave radar, or a laser radar, and may be another type of radar. In which the distance between the obstacle and the vehicle can be detected by radar, so that the position information of the obstacle can be determined according to the position of the vehicle and the distance, and reference may be made to the method in the related art.
In the embodiment of the invention, the camera can be a panoramic camera, and the panoramic camera can shoot the vehicle environment images of all directions of the top of the automobile. The camera can shoot the vehicle environment image in real time, and the position information of the obstacle is obtained by processing the vehicle environment image. The method of obtaining the position information of the obstacle based on the image may also refer to the description in the related art.
And S102, updating the obstacle map based on the position information of the obstacles detected by the radar and the obstacle position information determined by the vehicle environment image.
In an implementation manner of the embodiment of the present invention, optionally, before the vehicle backs up, the method may further include: and in the process of advancing the vehicle, constructing an obstacle map by using the position information of the obstacles detected by the radar and the position information of the obstacles determined by the vehicle environment image shot by the camera.
Specifically, in the process of vehicle advancing, the position information of the obstacle is detected in real time through the radar, the vehicle environment image is shot in real time through the camera, the position information of the obstacle detected by the radar and the position information of the obstacle determined by the vehicle environment image shot by the camera can be integrated, and an obstacle map is constructed based on the integrated obstacle position information, so that more obstacles around the vehicle can be contained, the obstacle detection is more comprehensive, and the condition that the obstacle is missed to be detected due to the adoption of an independent detection method can be avoided.
In the embodiment of the invention, in the process of backing up, the position information of the obstacles around the vehicle is detected in real time through images shot by the radar and the camera, and the obstacle map is updated based on the position information of the obstacles detected by the radar and the camera. For example, in the process of backing up, if the original moving obstacle disappears or a moving obstacle is added, the obstacle map is updated, and the disappearing moving obstacle is removed or an added moving obstacle is added on the obstacle map.
Therefore, in the process of backing a car, the obstacle map is updated through the position information of the obstacles detected by the radar and the obstacle information determined by the vehicle environment image shot by the camera, so that more comprehensive obstacle position information can be obtained, and the safety factor of the backing of the vehicle is improved.
S103, planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track, and controlling the vehicle to move along the reversing path.
In the embodiment of the present invention, specifically, if the obstacle position information in the updated obstacle map is not changed, the vehicle is controlled to return along the original vehicle forward travel track. If the position information of the obstacle in the updated obstacle map changes, a reverse path may be planned based on the position information of the obstacle and the forward travel trajectory of the vehicle, for example, if an obstacle appears on the forward travel trajectory of the vehicle, a reverse path that bypasses the obstacle may be planned. The specific path planning method may refer to a method in the related art.
In an implementation manner of the embodiment of the present invention, optionally, the controlling the vehicle to move along the reverse path includes: outputting a steering wheel angle request based on the reverse path to control the vehicle to steer; and outputting a braking request based on the obstacle position information in the updated obstacle map to control the vehicle to brake during the movement of the vehicle along the reverse path.
In the embodiment of the invention, the steering wheel angle request carries the angle data of the steering wheel. Specifically, a steering wheel angle request may be output based on the reverse path and the current state data of the vehicle to control the vehicle to steer according to the steering angle data in the steering wheel angle request. The current state data of the vehicle includes the current steering of the vehicle, the current posture of the vehicle, and the like.
In the embodiment of the invention, optionally, if the distance between the target obstacle and the vehicle is smaller than the set distance, a braking request is output to control the vehicle to brake, so that collision can be avoided, and the safety factor is improved.
In the related art, an ultrasonic radar is mainly used for detecting an obstacle so as to obtain a distance between the obstacle and a vehicle, or a camera is used for obtaining an image of an environment of the vehicle so as to obtain an environmental condition around a user, so that the vehicle cannot be controlled to back by directly using the condition of the obstacle. According to the technical scheme provided by the embodiment of the invention, the obstacle map can be updated through the obstacle position information detected by the radar and the camera, so that the reversing path is planned based on the updated obstacle map and the advancing running track of the vehicle, the reversing is carried out, the reversing can be carried out based on the more comprehensive obstacle position information, and the collision is avoided.
According to the technical scheme, radar and image information around the vehicle are collected by the aid of the radar and the camera of the vehicle in the forward driving process, the barrier map is updated to perform image processing, barrier conditions around the vehicle and driving tracks of the vehicle are identified and recorded, the problems that a driver needs to repeatedly adjust and waste a large amount of time in the reversing process when the driver cannot turn around to drive and needs to reverse and return on the original road are solved, the vehicle can automatically plan the path in real time according to the barrier conditions of the forward driving route and the two sides of the vehicle and return on the original road, collision risks are avoided, and the efficiency of the vehicle in the return process is improved.
Fig. 2 is a flowchart of a vehicle control method according to an embodiment of the present invention, where in the embodiment of the present invention, optionally, the method further includes:
and in the process of advancing the vehicle, constructing an obstacle map by using the position information of the obstacles detected by the radar and the position information of the obstacles determined by the vehicle environment image shot by the camera.
Optionally, the method provided in the embodiment of the present invention further includes: and recording the forward running track of the vehicle if the speed of the vehicle is less than the set speed in the forward process of the vehicle.
Optionally, the controlling the vehicle to move along the reverse path includes:
outputting a steering wheel angle request based on the reverse path to control the vehicle to steer;
and outputting a braking request based on the obstacle position information in the updated obstacle map to control the vehicle to brake during the movement of the vehicle along the reverse path.
As shown in fig. 2, the technical solution provided by the embodiment of the present invention includes:
s201: and in the process of advancing the vehicle, if the speed of the vehicle is less than the set speed, recording the advancing running track of the vehicle.
In the embodiment of the invention, the set speed can be 20km/h, and can be set appropriately according to actual conditions. When the speed of the vehicle is lower than the set speed, the obstacle can be accurately detected through the camera and the radar, so that the method is suitable for backing the vehicle and recording the advancing running track of the vehicle when the vehicle runs at low speed.
S202: and in the process of advancing the vehicle, constructing an obstacle map by using the position information of the obstacles detected by the radar and the position information of the obstacles determined by the vehicle environment image shot by the camera.
S203: in the process of backing a vehicle, the position information of the obstacle is detected through a radar, and the position information of the obstacle is determined through a vehicle environment image shot by a camera.
S204: and updating an obstacle map based on the position information of the obstacles detected by the radar and the obstacle position information determined by the vehicle environment image.
S205: and planning a reversing path based on the obstacle position information in the updated obstacle map and the forward driving track of the vehicle.
S206: and outputting a steering wheel angle request based on the reverse path to control the vehicle to steer.
The description of this step can be seen in detail in the above embodiments.
S207: and outputting a braking request based on the obstacle position information in the updated obstacle map to control the vehicle to brake during the movement of the vehicle along the reverse path.
In an implementation manner of the embodiment of the present invention, optionally, outputting a braking request to control the vehicle to brake based on the obstacle position information in the updated obstacle map includes: determining distances of the obstacles from the vehicle based on the obstacle position information and the position information of the vehicle in the updated obstacle map; if the distance between the target obstacle and the vehicle is smaller than the set distance, outputting a braking request to control the vehicle to brake; and after the vehicle is braked, if the distance between the target obstacle and the vehicle is determined to be greater than the set distance, controlling the vehicle to continue to run along the reverse path.
In an embodiment of the invention, the position information of the vehicle may be determined by a positioning system. The set distance may be set as needed, and may be 1m, 2m, or the like, for example. The braking request may be a vehicle braking request.
In the embodiment of the invention, if the distance between the target obstacle and the vehicle is less than the set distance, the braking request is output and is output to the braking controller, and the braking of the vehicle is controlled by the braking controller. Through real-time detection of the camera and the radar, after the vehicle is braked, if the distance between the detected target obstacle and the vehicle is larger than the set data, the vehicle is controlled to continue to run along the reversing path. Therefore, the vehicle is braked, so that collision can be avoided in time, and the safety factor is improved.
In the related art, a reverse method includes recording a forward track of a vehicle during forward movement of the vehicle, controlling the vehicle to reverse from a current position after a reverse assist function is turned on, and returning the vehicle along the forward track of the vehicle by correcting a steering wheel angle of the vehicle at each reverse time. However, the method only records the vehicle advancing track in the vehicle advancing process, and cannot acquire the barrier information on two sides of the road in real time, so that the function failure caused by the change of road conditions on two sides in the automatic reversing process exists; and the method can only control the steering of the vehicle, does not have the capability of controlling the braking of the vehicle, and cannot brake in time when the collision risk occurs.
According to the technical scheme provided by the embodiment of the invention, the barrier map is updated through the barrier position information detected by the radar and the camera, so that a reversing path is planned based on the updated barrier map and the advancing running track of the vehicle, the reversing is carried out, the automatic reversing can be realized, the reversing efficiency is improved, the reversing can be carried out based on the more comprehensive barrier position information, the original path return of the vehicle can be controlled particularly in the reversing process on a narrow road, the vehicle is braked, the collision can be avoided, and the safety factor is improved.
Fig. 3 is a schematic diagram of a vehicle control device according to an embodiment of the present invention, the device being disposed in a parking assist controller, the device including: a determination module 301, a map construction module 302, and a planning/motion module 303.
The determining module 301 is configured to detect position information of an obstacle through a radar and determine the position information of the obstacle through an image captured by a camera in a process of reversing a vehicle;
the map building module 302 is configured to update an obstacle map based on the position information of the obstacle detected by the radar and the obstacle position information determined by the image captured by the camera;
and the planning/moving module 303 is configured to plan a reverse path based on the updated obstacle position information in the obstacle map and the vehicle forward driving track, and control the vehicle to move along the reverse path.
Further, the determining module 301 includes an image recognition module and a radar recognition module; the radar identification module is used for detecting the position information of the obstacle through a radar; and the image recognition module is used for determining the position information of the obstacle through the image shot by the camera.
Further, the planning/motion module 303 may include a path planning module and a vehicle control module.
And the path planning module is used for planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track. And the vehicle control module is used for controlling the vehicle to move along the reversing path.
Optionally, the controlling the vehicle to move along the reverse path includes:
outputting a steering wheel angle request based on the reverse path to control the vehicle to steer;
and outputting a braking request based on the obstacle position information in the updated obstacle map to control the vehicle to brake during the movement of the vehicle along the reverse path.
Optionally, the outputting a braking request based on the obstacle position information in the updated obstacle map to control the vehicle to brake includes:
determining distances of the obstacles from the vehicle based on the obstacle position information and the position information of the vehicle in the updated obstacle map;
if the distance between the target obstacle and the vehicle is smaller than the set distance, outputting a braking request to control the vehicle to brake;
and after the vehicle is braked, if the distance between the target obstacle and the vehicle is determined to be greater than the set distance, controlling the vehicle to continue to run along the reverse path.
Optionally, the map building module 302 is further configured to, before the vehicle backs up, build an obstacle map according to position information of an obstacle detected by the radar and position information of the obstacle determined by an image of an environment of the vehicle captured by the camera in a process of the vehicle moving forward.
Optionally, the apparatus further includes a track memory module, configured to record a forward travel track of the vehicle when the speed of the vehicle is less than a set speed during forward movement of the vehicle.
Optionally, the radar includes an ultrasonic radar, a millimeter wave radar, or a laser radar, and the camera includes a look-around camera.
The device provided by the embodiment can execute the vehicle control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the method.
Fig. 4 is a schematic diagram of a system architecture to which the embodiment of the present invention is applied, and as shown in fig. 4, the system includes:
a parking assist controller 401, a radar 402, a camera 403, a steering controller 404, and a brake controller 405; the parking assist controller 401 includes a vehicle control device according to the above embodiment, and specifically includes an image recognition module 304, a radar recognition module 305, a map construction module 302, a path planning module 306, a vehicle control module 307, and a trajectory memorizing module 308.
The radar 402 is used for detecting position information of an obstacle;
the camera 403 is used for shooting an image of the vehicle environment;
the steering controller 404 is used for controlling the vehicle to steer based on a steering request;
the brake controller 405 is configured to control vehicle braking based on a braking request.
Specifically, the image recognition module 304 processes the vehicle environment image information shot in real time by the camera 403, and outputs the determined obstacle position information to the map construction module 302; the radar recognition module 305 processes the echo generated when the radar detects the obstacle information, and outputs the obstacle position information to the map construction module 302. Before the vehicle backs up, the map building module 302 builds and memorizes an obstacle map through the position information of the obstacles detected by the radar 402 and the position information of the obstacles determined through the vehicle environment image shot by the camera 403 during the forward process of the vehicle.
In the vehicle advancing process, if the speed of the vehicle is less than the set speed, the trajectory memory module 308 records the advancing travel trajectory of the vehicle and outputs the advancing travel trajectory to the path planning module 306.
After the original path returning function is activated, the path planning module 306 performs real-time path planning by combining the real-time obstacle information generated by the obstacle map and the forward driving path generated in the path memory module 308, and outputs the planned reverse path to the vehicle control module 307.
The vehicle control module 307 is responsible for controlling the vehicle to travel along a reverse path, outputting a steering wheel angle request and a braking request to the steering controller 404 and the braking controller 405. The steering system and the braking system of the vehicle are controlled by a steering controller 404 and a brake controller 405.
Fig. 5 is a schematic structural diagram of an apparatus provided in an embodiment of the present invention, and as shown in fig. 5, the apparatus includes:
one or more processors 501, one processor 501 being exemplified in fig. 5;
a memory 502;
the apparatus may further include: an input device 503 and an output device 504.
The processor 501, the memory 502, the input device 503 and the output device 504 of the apparatus may be connected by a bus or other means, and fig. 5 illustrates the connection by a bus as an example.
The memory 502, which is a non-transitory computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle control method in the embodiments of the present invention (e.g., the determination module 301, the map construction module 302, and the planning/motion module 303 shown in fig. 3). The processor 501 executes various functional applications and data processing of the computer device by running software programs, instructions and modules stored in the memory 502, namely, implements the vehicle control method of the above-described method embodiment, namely:
in the process of backing a vehicle, detecting the position information of an obstacle through a radar, and determining the position information of the obstacle through a vehicle environment image shot by a camera;
updating an obstacle map based on the position information of the obstacle detected by the radar and the obstacle position information determined by the vehicle environment image;
and planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track, and controlling the vehicle to move along the reversing path.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 502 may optionally include memory located remotely from processor 501, which may be connected to the terminal device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 503 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. The output device 504 may include a display device such as a display screen.
An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements a vehicle control method as provided by an embodiment of the present invention:
in the process of backing a vehicle, detecting the position information of an obstacle through a radar, and determining the position information of the obstacle through a vehicle environment image shot by a camera;
updating an obstacle map based on the position information of the obstacle detected by the radar and the obstacle position information determined by the vehicle environment image;
and planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track, and controlling the vehicle to move along the reversing path.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle control method characterized by comprising:
in the process of backing a vehicle, detecting the position information of an obstacle through a radar, and determining the position information of the obstacle through a vehicle environment image shot by a camera;
updating an obstacle map based on the position information of the obstacle detected by the radar and the obstacle position information determined by the vehicle environment image;
and planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track, and controlling the vehicle to move along the reversing path.
2. The method of claim 1, wherein the controlling the vehicle to move along the reverse path comprises:
outputting a steering wheel angle request based on the reverse path to control the vehicle to steer;
and outputting a braking request based on the obstacle position information in the updated obstacle map to control the vehicle to brake during the movement of the vehicle along the reverse path.
3. The method of claim 2, wherein outputting a braking request to control the vehicle to brake based on the obstacle location information in the updated obstacle map comprises:
determining distances of the obstacles from the vehicle based on the obstacle position information and the position information of the vehicle in the updated obstacle map;
if the distance between the target obstacle and the vehicle is smaller than the set distance, outputting a braking request to control the vehicle to brake;
and after the vehicle is braked, if the distance between the target obstacle and the vehicle is determined to be greater than the set distance, controlling the vehicle to continue to run along the reverse path.
4. The method of claim 1, further comprising, prior to reversing the vehicle:
and in the process of advancing the vehicle, constructing an obstacle map by using the position information of the obstacles detected by the radar and the position information of the obstacles determined by the vehicle environment image shot by the camera.
5. The method of claim 4, further comprising:
and in the process of advancing the vehicle, if the speed of the vehicle is less than the set speed, recording the advancing running track of the vehicle.
6. The method of claim 1, wherein the radar comprises an ultrasonic radar, a millimeter wave radar, or a laser radar, and the camera comprises a look-around camera.
7. A vehicle control apparatus characterized by comprising:
the determining module is used for detecting the position information of the obstacle through a radar and determining the position information of the obstacle through an image shot by a camera in the process of backing a vehicle;
the map building module is used for updating the barrier map based on the position information of the barrier detected by the radar and the barrier position information determined by the image shot by the camera;
and the planning/moving module is used for planning a reversing path based on the updated obstacle position information in the obstacle map and the vehicle forward running track and controlling the vehicle to move along the reversing path.
8. A vehicle control system is characterized by comprising a parking auxiliary controller, a radar, a camera, a steering controller and a brake controller; the parking assist controller includes the vehicle control apparatus according to claim 7;
the radar is used for detecting position information of an obstacle;
the camera is used for shooting an environment image of the vehicle;
the steering controller is used for controlling the steering of the vehicle based on the steering request;
the brake controller is used for controlling the vehicle brake based on the brake request.
9. An apparatus, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 6.
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| CN202010898642.3A CN111994064A (en) | 2020-08-31 | 2020-08-31 | Vehicle control method, device, equipment, system and storage medium |
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| CN202010898642.3A CN111994064A (en) | 2020-08-31 | 2020-08-31 | Vehicle control method, device, equipment, system and storage medium |
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