CN113335312A - Obstacle-detouring driving method and device, electronic equipment and medium - Google Patents

Obstacle-detouring driving method and device, electronic equipment and medium Download PDF

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Publication number
CN113335312A
CN113335312A CN202110899008.6A CN202110899008A CN113335312A CN 113335312 A CN113335312 A CN 113335312A CN 202110899008 A CN202110899008 A CN 202110899008A CN 113335312 A CN113335312 A CN 113335312A
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mobile device
obstacle
intelligent mobile
path
target
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CN113335312B (en
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张弛
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Neolix Technologies Co Ltd
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Neolix Technologies Co Ltd
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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
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The embodiment of the application discloses a barrier-avoiding driving method, a barrier-avoiding driving device, electronic equipment and a medium, relates to the field of unmanned driving and automatic driving, in particular to the field of unmanned vehicles, and comprises the following steps: determining whether starting conditions for backing off the obstacle exist or not according to the driving information and the obstacle information of the intelligent mobile device; if yes, planning an unwinding barrier reversing path, wherein the unwinding barrier reversing path comprises a target reversing path and a target advancing obstacle detouring path; and controlling the intelligent mobile device to carry out backward movement according to the target backward path, and controlling the intelligent mobile device to carry out forward obstacle detouring movement according to the target forward obstacle detouring path. According to the scheme, whether the starting condition of the backing-off barrier is met or not is judged when the intelligent mobile device runs in front of the obstacle, if yes, a path is planned and the backing-off barrier is reversed, the problem that the intelligent mobile device cannot directly run around the obstacle when the intelligent mobile device is close to the front obstacle is solved, and therefore the response capacity and the running efficiency of the intelligent mobile device to the environment are improved.

Description

Obstacle-detouring driving method and device, electronic equipment and medium
Technical Field
The embodiment of the application relates to the field of unmanned driving and automatic driving, in particular to the field of unmanned vehicles, and particularly relates to an obstacle-detouring driving method, an obstacle-detouring driving device, electronic equipment and a medium.
Background
An automatic driving vehicle is also called an unmanned vehicle, a computer driving vehicle or a wheeled mobile robot, and is an intelligent vehicle which realizes unmanned driving through a computer system. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human.
During the driving process of the automatic driving vehicle, the automatic driving vehicle may encounter an obstacle, so that the automatic driving vehicle cannot continue to drive forwards in a straight line and needs to drive around the obstacle. However, if the autonomous vehicle fails to find the obstacle ahead, or the obstacle detouring driving plan and decision is not timely, the autonomous vehicle may have already traveled to a position close to the obstacle, and may not continue to detour ahead.
Disclosure of Invention
The embodiment of the application provides an obstacle-detouring driving method, an obstacle-detouring driving device, electronic equipment and a medium, so that obstacle-detouring driving can be effectively carried out under the condition that an intelligent mobile device is close to an obstacle.
In one embodiment, the present application provides an obstacle detouring method, including:
acquiring driving information of an intelligent mobile device and obstacle information around the intelligent mobile device;
determining whether the intelligent mobile device has starting conditions for backing off obstacles or not according to the driving information and the obstacle information of the intelligent mobile device;
if yes, planning an unwinding barrier reversing path for the intelligent mobile device, wherein the unwinding barrier reversing path comprises a target reversing path and a target advancing obstacle detouring path;
and controlling the intelligent mobile device to carry out backward movement according to a target backward path, and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to a target forward obstacle-detouring path.
In another embodiment, the present application further provides an obstacle-detouring device, including:
the information acquisition module is used for acquiring driving information of the intelligent mobile device and obstacle information around the intelligent mobile device;
the condition judgment module is used for determining whether the intelligent mobile device has starting conditions for backing off the obstacle according to the driving information and the obstacle information of the intelligent mobile device;
the path planning module is used for planning a target backward path and a target forward obstacle detouring path for the intelligent mobile device if the intelligent mobile device is provided with the path planning module;
and the control module is used for controlling the intelligent mobile device to carry out backward movement according to a target backward path and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to a target forward obstacle-detouring path.
In another embodiment, an embodiment of the present application further provides an electronic device, including: one or more processors;
a memory 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 barrier driving method according to any one of the embodiments of the present application.
In one embodiment, the present application further provides a computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the obstacle detouring method according to any one of the present application embodiments.
In the embodiment of the application, according to the driving information and the obstacle information of the intelligent mobile device, whether the intelligent mobile device has the starting condition of the reverse unwinding barrier is determined, whether the intelligent mobile device starts to reverse and detour to make an accurate decision, if the starting condition of the reverse unwinding barrier is met, a target reverse path and a target forward obstacle detouring path are planned for the intelligent mobile device, the intelligent mobile device is controlled to reverse the unwinding barrier, the problem that the intelligent mobile device cannot directly detour around the obstacle relatively close to the front obstacle is solved, the coping capability and the driving efficiency of the intelligent mobile device to the environment are improved, the workload of manual intervention is reduced, and the intelligence of the intelligent mobile device is improved.
Drawings
Fig. 1 is a flowchart of an obstacle detouring method according to an embodiment of the present disclosure;
FIG. 2 provides a schematic diagram of internal states for one embodiment of the present application;
fig. 3 is a flowchart of an obstacle detouring method according to another embodiment of the present disclosure;
fig. 4 is a flowchart illustrating a reverse unwinding barrier start condition determination provided in another embodiment of the present application;
fig. 5 is a flowchart illustrating a determination process of an unwinding barrier control triggering condition according to another embodiment of the present application;
FIG. 6 is a flow chart of a barrier driving method according to yet another embodiment of the present application;
FIG. 7 is a first schematic view of a barrier zone provided in accordance with yet another embodiment of the present application;
FIG. 8 is a first schematic view of a barrier zone provided in accordance with yet another embodiment of the present application;
FIG. 9 is a schematic diagram illustrating a preset sampling point setting according to another embodiment of the present application;
FIG. 10 is a schematic diagram of path generation according to yet another embodiment of the present application;
fig. 11 is a schematic structural diagram of an obstacle detouring device according to an embodiment of the present application;
fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of an obstacle detouring method according to an embodiment of the present disclosure. The obstacle-detouring driving method provided by the embodiment of the application can be suitable for the situation that the intelligent mobile device drives to detour the obstacle. Typically, the embodiment of the application is suitable for the situation that the intelligent mobile device is close to the obstacle and cannot directly drive forwards to bypass, so that the intelligent mobile device can drive backwards and then forwards to bypass the obstacle. The intelligent mobile device may be an unmanned vehicle, a robot unmanned ship, or the like, and the method may be specifically executed by an obstacle detouring device, and the device may be implemented by software and/or hardware, and the device may be integrated in an electronic device capable of implementing the obstacle detouring method, and the electronic device implementing the obstacle detouring method may be located outside the intelligent mobile device, such as a cloud server, a computer, a processor of a console, or the like, or may be located in the intelligent mobile device, such as a processor configured in the intelligent mobile device. Referring to fig. 1, the method of the embodiment of the present application specifically includes:
and S110, acquiring the driving information of the intelligent mobile device and the obstacle information around the intelligent mobile device.
The driving information may be a state of the smart mobile device during the automatic driving process or a driving strategy adopted, and may be related information of the smart mobile device itself. The peripheral obstacle information of the intelligent mobile device is external environment information of the intelligent mobile device, the periphery can be scenes in a preset range around the intelligent mobile device, and the scenes can comprise a scene in front of the intelligent mobile device and/or a scene behind the intelligent mobile device. The form of the obstacle is not particularly limited, and objects that can affect the normal driving of the smart mobile device can be regarded as the obstacle, and the obstacle information may include information such as the position, shape, volume, weight, color, transparency, and the like of the obstacle. The driving information and the obstacle information can be detected and collected by the intelligent mobile device, for example, the electronic control system in the intelligent mobile device detects and collects the driving information, the image collection module in the intelligent mobile device detects and collects the obstacle information, and the electronic device executing the obstacle-detouring driving method obtains the driving information and the obstacle information collected by the intelligent mobile device. In the embodiment of the application, the obtaining of the driving information and the obstacle information around the intelligent mobile device may be performed before obstacle detouring driving each time, or may be performed in real time, so that the subsequent steps are performed according to the obtained driving information and the obstacle information around the intelligent mobile device when obstacle detouring driving is performed.
And S120, determining whether the intelligent mobile device has starting conditions for backing off the obstacle according to the running information and the obstacle information of the intelligent mobile device.
Exemplarily, before controlling the intelligent mobile device to start the backing-off obstacle, it is necessary to determine whether the intelligent mobile device has the condition of the backing-off obstacle, if the intelligent mobile device has the condition of the backing-off obstacle, the intelligent mobile device is controlled to start the backing-off obstacle, and if the intelligent mobile device does not have the condition of the backing-off obstacle, the backing-off obstacle is not started, so that normal driving of the intelligent mobile device is prevented from being influenced by false start or multiple starts.
Specifically, whether the smart mobile device itself can reverse the parking obstacle may be determined according to the driving information of the smart mobile device, for example, if the smart mobile device is in a set driving mode, such as an automatic parking mode, it is not suitable to change the driving mode in which the smart mobile device is currently located to start the parking obstacle. In addition, it is further required to determine whether an obstacle obstructing normal driving of the smart mobile device exists around the smart mobile device and whether the obstacle obstructing normal driving of the smart mobile device cannot continue to advance according to obstacle information around the smart mobile device, so as to determine that the obstacle obstructing normal driving of the smart mobile device exists around the smart mobile device and the obstacle obstructing normal driving of the smart mobile device cannot advance, and determine that the smart mobile device has a condition for starting the obstacle rewinding under the condition that the obstacle rewinding of the smart mobile device can be determined according to the driving information.
The sequence of judging whether the driving information and the obstacle information of the intelligent mobile device are suitable for starting the backing-off obstacle is not particularly limited, and the sequence can be determined according to actual conditions, can be judged sequentially, and can also be judged simultaneously.
In the embodiment of the application, the electronic device for implementing the obstacle-detouring driving method may include a decision maker, a reference line planner and a controller, wherein the decision maker is configured to determine whether the obstacle-detouring operation, that is, the operation of S120, can be triggered, the reference line planner is configured to plan a path for the intelligent mobile device, and the controller is configured to control the intelligent mobile device to drive. Setting internal states in the electronic equipment for realizing the obstacle-detouring driving method, wherein the internal states comprise an Init state, a going state and a Finish state, a specific flow is shown in fig. 2, and when the Init state is reached, a decision maker makes a decision whether to trigger the backing-off of an obstacle; the Doing state represents that the target is currently in a reverse unwinding barrier state, and the reference line planner works to plan a specific target reverse path and a target forward obstacle detouring path; the Finish state represents the current completion of the backing-off barrier, and the state then enters Init.
And S130, if so, planning a reverse unwinding barrier path for the intelligent mobile device, wherein the reverse unwinding barrier path comprises a target reverse path and a target forward obstacle detouring path.
For example, a reverse unwinding barrier path may be planned for the smart mobile device by the reference line planner, so that the smart mobile device can travel around the obstacle according to the reverse unwinding barrier path. The reverse obstacle-withdrawal path may include a target reverse path and a target forward obstacle-detouring path, and the target reverse path may be a path during the reverse process of the smart mobile device, and the distance between the smart mobile device and the obstacle is enlarged by controlling the smart mobile device to reverse for a certain distance, thereby facilitating the smart mobile device to travel forwards around the obstacle. The target forward obstacle-detouring path is a path for continuously traveling forward to detour the obstacle after the intelligent mobile device backs up.
The reference line planner may plan at least two candidate retrograde paths for the smart mobile device, select one of the at least two candidate retrograde paths as a target retrograde path, and plan a forward obstacle detouring path according to an end point of the target retrograde path and an obstacle detouring path point where an obstacle detours. An entry mark forward obstacle detouring path can be planned according to the end point of the target reverse path and the obstacle detouring path point passing by the obstacle detouring path, or at least two candidate forward obstacle detouring paths can be planned according to the end point of the target reverse path and the obstacle detouring path point passing by the obstacle detouring path, and then one of the candidate forward obstacle detouring paths is selected as the target forward obstacle detouring path.
The reference line planner may or may not plan an effective backout barrier path for the smart mobile device. For example, if the smart mobile device detects that an obstacle is present behind, impeding the smart mobile device from backing up, the reference line planner cannot plan an effective backing-up obstacle path for the smart mobile device.
And S140, controlling the intelligent mobile device to carry out reverse movement according to the target reverse path, and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to the target forward obstacle-detouring path.
Illustratively, the intelligent mobile device is controlled to move backwards according to the target reversing path, so that the intelligent mobile device moves backwards for a certain distance, the distance between the intelligent mobile device and a front obstacle is increased, and the problem that the intelligent mobile device is close to the obstacle and is difficult to move forwards to bypass the obstacle is solved. And controlling the intelligent mobile device to advance and detour the obstacle according to the target advancing and detouring path, so that the intelligent mobile device can successfully advance and detour the obstacle and continuously travel forwards.
Specifically, the controller may first send the target reverse path and the target forward obstacle detouring path to the intelligent mobile device, then send a reverse movement command to the intelligent mobile device, control the intelligent mobile device to perform reverse movement according to the target reverse path, then send a forward obstacle detouring movement command to the intelligent mobile device, and control the intelligent mobile device to perform forward obstacle detouring movement according to the target forward obstacle detouring path, thereby detouring the obstacle. Or a target reverse path and a reverse movement instruction are sent to the intelligent mobile device first, the intelligent mobile device is controlled to carry out reverse movement according to the target reverse path, after the fact that the intelligent mobile device finishes reverse movement is detected, a target forward obstacle detouring path and a forward obstacle detouring movement instruction are sent to the intelligent mobile device, the intelligent mobile device is controlled to carry out forward obstacle detouring movement according to the target forward obstacle detouring path, and obstacles are detoured. Other modes can be adopted as long as the intelligent mobile device can be controlled to carry out reverse movement according to the target reverse path and then carry out forward obstacle-detouring movement according to the target forward obstacle-detouring path.
In the embodiment of the application, according to the driving information and the obstacle information of the intelligent mobile device, whether the intelligent mobile device has the starting condition of the reverse unwinding barrier is determined, whether the intelligent mobile device starts to reverse and detour to make an accurate decision, if the starting condition of the reverse unwinding barrier is met, a target reverse path and a target forward obstacle detouring path are planned for the intelligent mobile device, the intelligent mobile device is controlled to reverse the unwinding barrier, the problem that the intelligent mobile device cannot directly detour around the obstacle relatively close to the front obstacle is solved, the coping capability and the driving efficiency of the intelligent mobile device to the environment are improved, the workload of manual intervention is reduced, and the intelligence of the intelligent mobile device is improved.
In the embodiment of the application, the driving information comprises state information of the intelligent mobile device, a driving mode, a moving speed, the number of times that the intelligent mobile device starts to rewind an obstacle in a current road section within a preset time period, and a moving state of the intelligent mobile device at a historical moment; correspondingly, determining whether the intelligent mobile device has a starting condition for backing off the obstacle according to the running information and the obstacle information of the intelligent mobile device comprises the following steps: if the state of the intelligent mobile device is not abnormal, the driving mode is a forward driving mode, the moving speed is smaller than a preset speed threshold value, the number of times that the intelligent mobile device starts to rewind the obstacle in the current road section in a preset time period is smaller than a preset number of times, the moving state of the intelligent mobile device at the historical moment is a deceleration state, the distance between a front obstacle and the intelligent mobile device in a scene where the intelligent mobile device is located is smaller than a first preset distance, the distance between the front obstacle and any boundary of a road is larger than a second preset distance, or the distance between two adjacent front obstacles is larger than the second preset distance, and then the fact that the intelligent mobile device has the starting condition of rewinding the obstacle is determined. Where the historical time may be a time before the current time, for example, the current time is 8 am, and the historical time may be a time before 8 am of today, for example, a time between 7 pm and 8 pm, or 7 pm 59, etc.
For example, it may be determined whether the smart mobile device has a start condition for backing off the shutdown condition for the above determination condition. Specifically, if the state of the smart mobile device is abnormal, it indicates that the smart mobile device is currently not suitable for continuing driving, and therefore the condition for backing off the obstacle to unwinding is not satisfied. If the intelligent mobile device is not in the forward driving mode at present but in other set modes, such as a reverse mode, an automatic parking mode and the like, the intelligent mobile device is not suitable for directly carrying out the backing-off barrier, so that the backing-off barrier condition is not met. If the moving speed is high, the number of times of starting the backing-off obstacle is larger than or equal to the preset number of times, the condition of backing-off obstacle is not met under the conditions that the moving state at the historical moment is not a deceleration state and the like, and the intelligent moving device is determined to have the starting condition of backing-off obstacle only if all the conditions are met simultaneously. The order of determination of each condition is not limited.
Fig. 3 is a flowchart of an obstacle detouring method according to another embodiment of the present disclosure. For further optimization of the embodiments, details which are not described in detail in the embodiments of the present application are described in the embodiments. Referring to fig. 3, an obstacle detouring method provided in an embodiment of the present application may include:
s210, determining whether the state of the intelligent mobile device is not abnormal, wherein the driving mode is a forward driving mode, the moving speed is smaller than a preset speed threshold value, the number of times that the intelligent mobile device starts the backing-off barrier in the current road section in a preset time period is smaller than a preset number of times, and if yes, executing S220. If not, the operation is ended.
In this embodiment, the driving information may include state information of the smart mobile device, a driving mode, a moving speed, a number of times that the smart mobile device has started to rewind an obstacle in a current road segment within a preset time period, and a moving state of the smart mobile device at a historical time.
The state information may be state information detected by a fault detection module in the smart mobile device, such as brake fault information, engine fault information, handbrake fault information, seat belt unlock information, vehicle door unlock information, airbag fault information, and the like. If the state information exists, the intelligent mobile device is abnormal at present and cannot normally run. The driving mode may be a driving gear or a set function mode in which the smart mobile device is currently located, and the driving gear may include a parking gear, a reverse gear, a forward gear, a neutral gear, a low gear, an acceleration gear, and the like. The set function mode may include a reverse garage mode, a side park mode, a cruise mode, a lane keeping mode, and the like. The intelligent mobile device determines the moving speed of the intelligent mobile device, the number of times that the backing-off barrier has been started on the current road section within a preset time period, and the moving state of the intelligent mobile device at the historical moment. The movement state of the history time may be a movement state at a time immediately before the current time, or a movement state in a time period made up of a plurality of times before the current time.
Illustratively, whether each item of information meets the condition of starting the backing-off barrier or not is judged according to each item of acquired information. And determining that the intelligent mobile device is not abnormal according to the state information of the intelligent mobile device, wherein the driving mode is a forward driving mode, the moving speed is less than a preset speed threshold value, and the number of times that the intelligent mobile device starts to rewind and unwind the obstacle in the current road section in a preset time period is less than a preset number of times. Specifically, if the intelligent mobile device is determined not to be abnormal according to the state information of the intelligent mobile device, the intelligent mobile device is determined to be capable of normally driving, the driving mode of the intelligent mobile device is a forward driving mode, and the intelligent mobile device is not in a reverse gear, a parking gear and the like or in a set mode such as a reverse garage entering mode, a constant speed cruising mode and the like, so that the withdrawal failure can be reversed without affecting normal driving. And determining that the intelligent mobile device cannot continuously keep normal running, is in a state of decelerating running or stopping at present when the moving speed of the intelligent mobile device is less than a preset speed threshold value. The method includes the steps that the number of times that the intelligent mobile device starts the backing-off barrier in the current road section within a preset time period of the intelligent mobile device is smaller than the preset number of times, and the situation that the intelligent mobile device does not start the backing-off barrier for multiple times and does not successfully detour the barrier is shown. The method has the advantages that the number of times that the intelligent mobile device starts the backing-off barrier in the current road section within the preset time period is judged, the backing-off barrier is determined to be suitable for starting under the condition of less times, the backing-off barrier is reported to the console for remote take-over under the condition of more times, and the situation that the backing-off barrier is still started under the condition of more times, but the barrier cannot be successfully detonated and falls into endless circulation is avoided.
In an embodiment of the present application, before determining that the number of times that the smart mobile device has started to rewind an obstacle in a current road segment within a preset time period is less than a preset number of times, the method further includes: if the distance difference between the current position of the intelligent mobile device and the historical position of the intelligent mobile device in the historical starting information of the barrier reversing and detouring is smaller than a preset distance difference, determining the number of times that the intelligent mobile device starts the barrier reversing and withdrawing in a current road section in a preset time period according to the historical starting information; and if the distance difference between the current position of the intelligent mobile device and the historical position of the intelligent mobile device in the historical starting information of the barrier reversing is larger than or equal to a preset distance difference, the historical starting information is removed.
For example, a specific implementation flowchart of the starting condition judgment is shown in fig. 4, and the historical starting information includes information about the number of times the smart mobile device has started to rewind the obstacle, the starting position, the starting time, whether the rewind obstacle was successful, and the like. And determining whether the intelligent mobile device is currently located on the road section on which the reverse obstacle detour is started or not according to the distance between the current position of the intelligent mobile device and the position of the intelligent mobile device in the historical starting information, and if the distance is smaller than a preset distance difference value, namely the distance is smaller, determining that the intelligent mobile device is currently located on the road section on which the reverse obstacle detour is started, so that the times that the intelligent mobile device starts to reverse the obstacle in the current road section in the preset time period are determined according to the starting time in the historical starting information. If the distance is larger than or equal to the preset distance difference value, the intelligent mobile device is determined to be no longer located on the road section where the reverse obstacle detour is started, and the intelligent mobile device is currently located on a new road section, so that historical starting information is cleared, and starting information of the intelligent mobile device located on the current road section is recorded again. The method has the advantages that whether the current road section where the intelligent mobile device is located is the road section which is started to pass the backward obstacle detouring is accurately judged, if yes, the times that the intelligent mobile device is started to rewind the obstacle in the current road section within the preset time period are accurately determined according to historical starting information, if not, the historical starting information is timely cleared, and the phenomenon that the times are lost due to the fact that the starting times are accumulated in different road sections is avoided.
And S220, determining whether the intelligent mobile device has starting conditions for backing-off obstacles or not according to the moving state of the intelligent mobile device at the historical moment and the obstacle information, if so, executing S230, and if not, ending the operation.
For example, the decision that the smart mobile device should make for the obstacle ahead, such as slowing down, braking, etc., is determined according to the moving state of the smart mobile device at the historical moment. And determining whether the road in front has enough space for the intelligent mobile device to pass through according to the obstacle information.
In an embodiment of the present application, determining whether the smart mobile device has a starting condition for rewinding an obstacle according to the moving state of the smart mobile device at the historical time and the obstacle information includes: if the moving state of the intelligent mobile device at the historical moment is a deceleration state, determining the position information of the front obstacle of the intelligent mobile device; if the distance between a front obstacle in a scene where the intelligent mobile device is located and the intelligent mobile device is smaller than a first preset distance, the distance between the front obstacle and any boundary of a road is larger than a second preset distance, or the distance between two adjacent front obstacles is larger than the second preset distance, determining that the intelligent mobile device has a starting condition for backing off the obstacle; the preset distance is determined according to the width of the intelligent mobile device in the direction perpendicular to the advancing direction.
If the moving state of the intelligent mobile device at the historical moment is a deceleration state, the fact that the intelligent mobile device is difficult to continue to normally run due to the obstruction of the front obstacle is determined, a decision of deceleration is made according to the situation, in this case, the fact that the intelligent mobile device is difficult to normally run due to the fact that the obstacle exists in front of the intelligent mobile device is determined, further, the position information of the front obstacle in the scene where the intelligent mobile device is located is determined, and whether the reserved road beside the front obstacle is enough for the intelligent mobile device to pass is determined. Specifically, if the distance between the front obstacle and the intelligent mobile device is short and is smaller than the first preset distance, the intelligent mobile device is difficult to continue to advance for obstacle detouring, and the distance between the front obstacle and any boundary of the road is larger than the second preset distance, or the distance between two adjacent front obstacles is larger than the second preset distance, it is determined that the space beyond the front obstacle on the road is enough for the intelligent mobile device to pass through, and therefore it is determined that the intelligent mobile device has the starting condition for rewinding the obstacle. The first preset distance can be determined according to actual conditions to represent that the intelligent mobile device is close to the front obstacle. The second preset distance may be determined according to a width of the smart mobile device perpendicular to the proceeding direction, for example, set to be greater than or equal to the width of the smart mobile device perpendicular to the proceeding direction.
In the embodiment of the application, the beneficial effect of determining whether the intelligent mobile device has the starting condition of the backing-off barrier or not according to the sequence is that the condition with small calculation force can be judged firstly, and then the condition with large calculation force is judged, so that the calculation force can be saved, and when the condition with small calculation force does not meet the starting condition of the backing-off barrier, the judgment is finished, so that the condition with large calculation force is prevented from being judged firstly, and the pressure of a processor is prevented from being increased.
And S230, planning a target reverse path and a target forward obstacle detouring path for the intelligent mobile device.
In an embodiment of the present application, the method further includes: if the intelligent mobile device does not have the starting condition of the backing-off obstacle or the path planning of the backing-off obstacle fails, updating the times of invalid starting of the backing-off obstacle; if the intelligent mobile device has starting conditions of backing-off barriers and planning of a backing-up obstacle-detouring path is successful, updating the times of effectively starting the backing-off barriers; if the sum of the times of effectively starting the backing-off obstacle and the times of ineffectively starting the backing-off obstacle is greater than the preset times, calculating the probability of effectively starting the backing-off obstacle and the skewness of starting the backing-off obstacle; and if the probability is greater than the preset probability and the skewness is greater than the preset skewness, executing the step of controlling the intelligent mobile device to reverse the unwinding barrier.
For example, as shown in fig. 5, the reference line planner may plan a destination retrograde obstacle detour path for the smart mobile device, but if the smart mobile device is closer to a rear obstacle, the reference line planner may not be able to efficiently generate a target retrograde path and a target forward obstacle detour path. And under the condition that the intelligent mobile device does not have the starting condition of the backing-off obstacle or the operation of planning the path fails, updating the number of times of invalid starting of the backing-off obstacle by the counter. And if the intelligent mobile device has the starting condition of the backing-off obstacle and the operation of the planned path is successful, updating the counter by the times of effectively starting the backing-off obstacle. According to the statistical result of the counter, the times of effectively starting the backing-off barrier within a period of time and the times of wirelessly starting the backing-off barrier can be determined, and then the probability of effectively starting the backing-off barrier can be calculated. For example, if the effective start rewind barrier is denoted by 1 and the ineffective start rewind barrier is denoted by 0, and if the distribution of the effective start rewind barrier and the ineffective start rewind barrier is 1101110110101110 over a period of time, the probability of an effective start rewind barrier 11/16 + 100% =68.8% can be calculated. And calculating the skewness of the starting backing-off barrier according to the distribution of the effective starting backing-off barrier and the ineffective starting backing-off barrier in a period of time. The skewness is a measurement of the skew direction and degree of the statistical data distribution, is a digital characteristic of the asymmetric degree of the statistical data distribution, and if the skewness is closer to the current moment, the probability of effectively starting the backing-off obstacle is higher, the more stable the backing-off obstacle function is determined to be, so that the backing-off obstacle is more suitable to be started. And if the probability is greater than the preset probability and the skewness is greater than the preset skewness, determining that the intelligent mobile device is suitable for executing the backing-off obstacle, and executing the step of controlling the intelligent mobile device to backing-off the barrier. The technical scheme has the advantages that false triggering caused by sensing random factors such as false detection and jumping is avoided, and therefore the backing-off obstacle is triggered and executed under the condition that a target backing path and a target advancing path are generated and the backing-off obstacle-detouring function is stable.
And S240, controlling the intelligent mobile device to carry out backward movement according to a target backward path, and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to a target forward obstacle-detouring path.
In the embodiment of the application, whether the intelligent mobile device meets the condition of backing-off obstacles or not is judged, so that whether the current running state of the intelligent mobile device and the external road space are suitable for starting the backing-off obstacles or not is accurately judged, a target backing-off path and a target forward obstacle detouring path are planned for the intelligent mobile device, the intelligent mobile device is controlled to carry out backing-off movement according to the target backing-off path, the intelligent mobile device is controlled to carry out forward obstacle detouring movement according to the target forward obstacle detouring path, and therefore the intelligent mobile device is enabled to realize backing-off detouring under the condition that the intelligent mobile device is close to the front obstacles and difficult to successfully detour.
Fig. 6 is a flowchart of an obstacle detouring method according to still another embodiment of the present disclosure. For further optimization of the embodiments, details which are not described in detail in the embodiments of the present application are described in the embodiments. Referring to fig. 6, an obstacle detouring method provided in an embodiment of the present application may include:
s310, determining whether the intelligent mobile device has starting conditions for backing off the obstacle according to the running information and the obstacle information of the intelligent mobile device.
And S320, if the route is found, taking the current position of the intelligent mobile device as the starting point of the backward route, taking a preset sampling point behind the intelligent mobile device as the end point of the backward route, and determining a candidate backward route.
The preset sampling point is a sampling point on a straight line which is perpendicular to the moving direction of the intelligent mobile device and is at a third preset distance behind the intelligent mobile device; the preset sampling points may be sampling points set according to actual conditions, for example, if the smart mobile device is set to back 6 meters, then a preset number of preset sampling points are collected on a straight line perpendicular to the moving direction of the smart mobile device at a position 6 meters behind the smart mobile device, as shown in a preset sampling point set a in fig. 9, or the smart mobile device is set to back 8 meters, and then a preset number of preset sampling points are collected on a straight line perpendicular to the moving direction of the smart mobile device at a position 8 meters behind the smart mobile device, as shown in a preset sampling point set b in fig. 9. The specifically set back distance and the preset number of the intelligent mobile devices can be determined according to actual conditions.
For example, the current position of the intelligent mobile device is used as the starting point of the backward path, each preset sampling point is used as the end point of the backward path, and the candidate backward path is generated based on the geometric constraint. The geometric constraints can be determined according to actual conditions.
S330, determining the weight of the candidate reverse paths, and determining a target reverse path from the candidate reverse paths according to the weight.
For example, a weight of each candidate rewind path may be calculated according to the path characteristics of each candidate rewind path, and then a target rewind path may be determined from the candidate rewind paths according to the weight.
In the embodiment of the present application, the process of determining the weight of the candidate fallback path includes: carrying out collision detection on a rear obstacle and a candidate backward path in a scene where the intelligent mobile device is located, and determining the effective length and the effective end point of the candidate backward path; calculating the weight value of the candidate reverse path according to at least one of the following conditions: a distance of the candidate retrograde path from the rear obstacle; an effective length of the candidate fallback path; course deviation information of the effective terminal point and the obstacle detouring passing point; a minimum distance of the candidate reverse path from a road boundary; a rate of change of curvature of the candidate retrograde path.
For example, as shown in fig. 9, the smart mobile device may be likely to be obstructed by a rear obstacle during backward traveling, and therefore collision detection between the candidate backward path and the rear obstacle is required to determine whether the smart mobile device can normally backward along the candidate backward path. In a collision detection process, assuming that the smart mobile device travels backward along a candidate backward path, whether a collision with an obstacle will occur is detected, and if a collision will occur during the travel backward along the candidate backward path, a collision point is determined as an effective end point of the candidate backward path, and a length between the start point and the effective end point of the candidate backward path is determined as an effective length of the candidate backward path. The distance between the candidate backset path and the rear obstacle may be a minimum distance among distances between each point in the candidate backset path and the rear obstacle. The course deviation information of the effective end point and the obstacle detouring passing point can be the angle difference between the course at the effective end point and the course at the obstacle detouring passing point. The minimum distance of the candidate reverse path from the road boundary may be a minimum distance among distances of points in the candidate reverse path from the road boundary. The curvature of the candidate retrograde path is a rotation rate of a tangential direction angle to an arc length for a certain point on the candidate retrograde path, and is defined by differentiation, which indicates the degree of deviation of the candidate retrograde path from a straight line. And calculating a curvature change rate according to the curvature of the candidate backset path to represent the smoothness degree of the candidate backset path. For example, at least one of the above parameters may be weighted and summed to serve as a weight of the candidate reverse obstacle path. And aiming at each candidate reverse path, at least one selected parameter is the same. And selecting a better target candidate reverse path according to the weight of the candidate reverse path. Specifically, the candidate rewinding path with the largest weight is selected as the target rewinding path, or the candidate rewinding path with the smallest weight is selected as the target rewinding path, and the candidate rewinding path can be determined according to a weighting and summing manner during actual weight calculation.
And S340, determining a target forward obstacle detouring path according to the end point of the target reverse path and the obstacle detouring passing point.
Wherein the process of determining the obstacle detour passing point comprises the following steps: determining an obstacle detouring area where the intelligent mobile device detours the obstacle according to the distance between the front obstacle edge and the road boundary or the distance between two adjacent front obstacle edges; and taking the middle point of the obstacle detouring area as an obstacle detouring passing point.
For example, if the distance between the edge point of the front obstacle closest to the road boundary and the road boundary is greater than a second preset distance, or the distance between the edge points of two adjacent front obstacles closest to the road boundary is greater than the second preset distance, it is determined that the area corresponding to the distance is sufficient for the smart mobile device to bypass, and the area is taken as a bypass area. The obstacle-detouring area can be an area formed by enclosing an edge of an obstacle closest to a road boundary, a perpendicular segment of the road boundary passing through an edge endpoint and the road boundary, or an area formed by enclosing edges of two adjacent front obstacles closest to the road boundary and an edge endpoint connecting line. The middle point of the obstacle detouring area is used as an obstacle detouring passing point, so that the intelligent mobile device can pass through the middle of the obstacle detouring area, and the influence on normal detouring of the intelligent mobile device caused by the fact that the intelligent mobile device is close to a road boundary or an obstacle is avoided. For example, as shown in fig. 7, if an edge of the obstacle closest to the road boundary L is a, a distance between the edge a and the road boundary L is determined, and if the distance is greater than a second preset distance, an area corresponding to the distance is used as an obstacle detouring area, that is, an area surrounded by a, m, L, and n. And if the distance between the edge b of the obstacle and the road boundary R is greater than a second preset distance, taking the area corresponding to the distance as an obstacle detouring area, namely the area encircled by b, p, q and R. As shown in fig. 8, if the distance between the nearest edge points between two adjacent obstacles is greater than the second preset distance, the area surrounded by b, c, t, and s is used as the obstacle avoidance area. If the distance between the two side edges of the obstacle and the road boundaries at the two sides is greater than the second preset distance, or if the distance between the two side edges of the obstacle and the road boundaries at the two sides is greater than the second preset distance, and the distance between the nearest edge points of the two adjacent front obstacles is also greater than the second preset distance, the area corresponding to any distance can be selected as an obstacle-surrounding area, or the area corresponding to a larger distance is selected as an obstacle-surrounding area.
Illustratively, a target forward obstacle detouring path is planned according to the obstacle detouring passing point and the destination of the target backward path. Candidate forward obstacle detour paths can be determined according to geometric constraints, a target forward obstacle detour path is selected from the candidate forward obstacle detour paths, and finally a target reverse path and a target forward obstacle detour path are obtained as shown in fig. 10.
And S350, controlling the intelligent mobile device to carry out backward movement according to the target backward path, and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to the target forward obstacle-detouring path.
Controlling the intelligent mobile device to perform backward movement according to a target backward path and controlling the intelligent mobile device to perform forward obstacle detouring movement according to a target forward obstacle detouring path, comprising: determining first position information that the smart mobile device is located on the target reverse path and second position information that the smart mobile device is located on the target forward obstacle detour path; and if the fact that the intelligent mobile device does not finish reverse movement is determined according to the first position information, clearing data corresponding to a target reverse path which has already passed in the process of reverse movement of the intelligent mobile device, and if the fact that the intelligent mobile device does not finish forward movement is determined according to the second position information, clearing data corresponding to a target forward obstacle bypassing path which has already passed in the process of forward movement of the intelligent mobile device.
For example, in the process of controlling the intelligent mobile device to perform reverse movement according to a target reverse path and controlling the intelligent mobile device to perform forward obstacle detouring movement according to a target forward obstacle detouring path, the projection of the current position of the intelligent mobile device in the target reverse path and the target forward obstacle detouring path is determined, whether the planned path is finished is judged, and the reverse driving or the forward obstacle detouring driving is finished. If the intelligent mobile device does not finish the moving, the target reverse path or the target forward obstacle detouring path is continuously updated, and data corresponding to the target reverse path or the target forward obstacle detouring path which is already passed in the process of the intelligent mobile device reversing movement is cleared. And if the moving stopping time of the intelligent mobile device is greater than a time threshold, or the deviation between the course of the intelligent mobile device and the path is greater than a deviation threshold, or the deviation between the transverse distance of the intelligent mobile device and the path is greater than a first distance deviation, or the deviation between the longitudinal distance of the intelligent mobile device and the path is greater than a second distance deviation, reporting to the control console for further detection and maintenance so as to avoid continuing to drive under the condition that the intelligent mobile device deviates from the path.
In the embodiment of the application, the weight of a candidate reverse path is determined, a target reverse path is determined from the candidate reverse path according to the weight, a target forward obstacle detouring path is determined according to the end point of the target reverse path and the obstacle detouring passing point, the intelligent mobile device is controlled to carry out reverse movement according to the target reverse path, the intelligent mobile device is controlled to carry out forward obstacle detouring movement according to the target forward obstacle detouring path, and therefore when the intelligent mobile device is close to a front obstacle, successful obstacle detouring and continuous driving are achieved through reverse obstacle detouring.
Fig. 11 is a schematic structural diagram of an obstacle detouring device according to an embodiment of the present disclosure. The device can be suitable for the situation that the intelligent mobile device runs to bypass the obstacle. Typically, the embodiment of the application is suitable for the situation that the intelligent mobile device is close to the obstacle and cannot directly drive forwards to bypass, so that the intelligent mobile device can drive backwards and then forwards to bypass the obstacle. The apparatus may be implemented by software and/or hardware, and the apparatus may be integrated in an electronic device. Referring to fig. 11, the apparatus specifically includes:
an information obtaining module 410, which obtains driving information of an intelligent mobile device and obstacle information around the intelligent mobile device;
a condition judgment module 420, configured to determine whether the smart mobile device has a starting condition for backing off an obstacle according to the driving information of the smart mobile device and the obstacle information;
a path planning module 430, configured to plan a target reverse path and a target forward obstacle detouring path for the smart mobile device if the smart mobile device has the target reverse path and the target forward obstacle detouring path;
and a control module 440, configured to control the smart mobile device to perform a backward movement according to the target backward path and control the smart mobile device to perform an forward obstacle detouring movement according to the target forward obstacle detouring path.
In an embodiment of the application, the driving information includes state information of the smart mobile device, a driving mode of the smart mobile device, a moving speed, the number of times that the smart mobile device has started to rewind an obstacle in a current road section within a preset time period, and a moving state of the smart mobile device at a historical moment;
accordingly, the condition determining module 420 is specifically configured to:
if the state of the intelligent mobile device is not abnormal, the driving mode is a forward driving mode, the moving speed is smaller than a preset speed threshold value, the number of times that the intelligent mobile device starts to rewind the obstacle in the current road section in a preset time period is smaller than a preset number of times, the moving state of the intelligent mobile device at the historical moment is a deceleration state, the distance between a front obstacle and the intelligent mobile device in a scene where the intelligent mobile device is located is smaller than a first preset distance, the distance between the front obstacle and any boundary of a road is larger than a second preset distance, or the distance between two adjacent front obstacles is larger than the second preset distance, and then the fact that the intelligent mobile device has the starting condition of rewinding the obstacle is determined.
In this embodiment of the application, the condition determining module 420 includes:
the initial condition determining unit is used for determining the moving state of the intelligent mobile device at the historical moment if the state of the intelligent mobile device is not abnormal, the running mode is a forward running mode, the moving speed is smaller than a preset speed threshold value, and the number of times that the intelligent mobile device starts to rewind and unwind the obstacle in the current road section within a preset time period is smaller than a preset number of times;
a position information determination unit configured to determine position information of an obstacle in front of the smart mobile device if a movement state of the smart mobile device at a historical time is a deceleration state;
and the starting condition determining unit is used for determining that the intelligent mobile device has a starting condition for backing off the obstacle if the distance between the front obstacle and the intelligent mobile device in the scene where the intelligent mobile device is located is smaller than a first preset distance, the distance between the front obstacle and any boundary of the road is larger than a second preset distance, or the distance between two adjacent front obstacles is larger than the second preset distance.
In an embodiment of the present application, the apparatus further includes:
the number determining module is used for determining the number of times that the intelligent mobile device starts to rewind the obstacle in the current road section within a preset time period according to historical starting information if the distance difference between the current position of the intelligent mobile device and the historical position of the intelligent mobile device in the historical starting information of the backward obstacle detouring is smaller than a preset distance difference;
and the clearing module is used for clearing the historical starting information if the distance difference between the current position of the intelligent mobile device and the historical position of the intelligent mobile device in the historical starting information of the back obstacle detouring is larger than or equal to a preset distance difference.
In an embodiment of the present application, the apparatus further includes:
the invalid time updating module is used for updating the invalid times for starting the backing-off obstacle if the intelligent mobile device does not have the starting condition of the backing-off obstacle or the path planning of the backing-off obstacle fails;
the effective times updating module is used for updating the times of effectively starting the backing-off barrier if the intelligent mobile device has the starting condition of the backing-off barrier and the path planning of backing-off and barrier-surrounding is successful;
in an embodiment of the present application, the apparatus further includes:
the calculating module is used for calculating the probability of effectively starting the backing-off obstacle and the skewness of starting the backing-off obstacle if the sum of the times of effectively starting the backing-off obstacle and the times of ineffectively starting the backing-off obstacle is greater than a preset number;
and the execution module is used for executing the step of controlling the intelligent mobile device to reverse the unwinding barrier if the probability is greater than the preset probability and the skewness is greater than the preset skewness.
In this embodiment of the present application, the path planning module 430 includes:
the candidate backward path determining unit is used for determining a candidate backward path by taking the current position of the intelligent mobile device as the starting point of the backward path and taking a preset sampling point behind the intelligent mobile device as the end point of the backward path;
the target reverse path determining unit is used for determining weights of candidate reverse paths and determining a target reverse path from the candidate reverse paths according to the weights;
and the target forward obstacle detouring path determining unit is used for determining a target forward obstacle detouring path according to the end point of the target backward path and the obstacle detouring passing point.
In an embodiment of the present application, the apparatus further includes:
the obstacle-detouring passing point determining module is used for determining an obstacle-detouring area where the intelligent mobile device detours the obstacle according to the distance between the edge of the front obstacle and the boundary of the road or the distance between the edges of two adjacent front obstacles;
taking the middle point of the obstacle detouring area as an obstacle detouring passing point;
in an embodiment of the present application, the apparatus further includes:
the weight determination module is used for performing collision detection on a rear obstacle in a scene where the intelligent mobile device is located and the candidate backward path, and determining the effective length and the effective end point of the candidate backward path;
and calculating the weight of the candidate reverse path according to the distance between the candidate reverse path and the rear obstacle, the effective length of the candidate reverse path, the course deviation information of an effective end point and a detour passing point, the minimum distance between the candidate reverse path and a road boundary and the curvature change rate of the candidate reverse path.
In this embodiment, the control module 440 includes:
a position information determination unit for determining first position information that the smart mobile device is located on the target reverse path and second position information that the smart mobile device is located on the target forward obstacle detouring path;
and the data clearing unit is used for clearing data corresponding to a target reverse path which has already passed in the process of the reverse movement of the intelligent mobile device if the intelligent mobile device is determined not to finish the reverse movement according to the first position information, and clearing data corresponding to a target forward obstacle bypassing path which has already passed in the process of the forward movement of the intelligent mobile device if the intelligent mobile device is determined not to finish the forward movement according to the second position information.
The obstacle-detouring driving device provided by the embodiment of the application can execute the obstacle-detouring driving method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present application. FIG. 12 illustrates a block diagram of an exemplary electronic device 512 suitable for use in implementing embodiments of the present application. The electronic device 512 shown in fig. 12 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 12, the electronic device 512 may include: one or more processors 516; a memory 528, configured to store one or more programs, when the one or more programs are executed by the one or more processors 516, causing the one or more processors 516 to implement the obstacle avoidance driving method provided in the embodiment of the present application, including:
acquiring driving information of an intelligent mobile device and obstacle information around the intelligent mobile device;
determining whether the intelligent mobile device has starting conditions for backing off obstacles or not according to the driving information and the obstacle information of the intelligent mobile device;
if yes, planning an unwinding barrier reversing path for the intelligent mobile device, wherein the unwinding barrier reversing path comprises a target reversing path and a target advancing obstacle detouring path;
and controlling the intelligent mobile device to carry out backward movement according to a target backward path, and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to a target forward obstacle-detouring path.
Components of the electronic device 512 may include, but are not limited to: one or more processors 516, a memory 528, and a bus 518 that connects the various device components, including the memory 528 and the processors 516.
Bus 518 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, transaction ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
The electronic device 512 typically includes a variety of computer device-readable storage media. These storage media may be any available storage media that can be accessed by electronic device 512 and includes both volatile and nonvolatile storage media, removable and non-removable storage media.
The memory 528 may include computer device readable storage media in the form of volatile memory, such as Random Access Memory (RAM) 530 and/or cache memory 532. The electronic device 512 may further include other removable/non-removable, volatile/nonvolatile computer device storage media. By way of example only, storage system 534 may be used to read from and write to non-removable, nonvolatile magnetic storage media (not shown in FIG. 12, and commonly referred to as a "hard drive"). Although not shown in FIG. 12, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical storage medium) may be provided. In such cases, each drive may be connected to bus 518 through one or more data storage media interfaces. Memory 528 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.
A program/utility 540 having a set (at least one) of program modules 542 may be stored, for example, in memory 528, such program modules 542 including, but not limited to, an operating device, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. The program modules 542 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 512 may also communicate with one or more external devices 514 and/or a display 524, etc., and may also communicate with one or more devices that enable a user to interact with the electronic device 512, and/or with any devices (e.g., network cards, modems, etc.) that enable the electronic device 512 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 522. Also, the electronic device 512 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 520. As shown in FIG. 12, the network adapter 520 communicates with the other modules of the electronic device 512 via the bus 518. It should be appreciated that although not shown in FIG. 12, other hardware and/or software modules may be used in conjunction with the electronic device 512, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID devices, tape drives, and data backup storage devices, among others.
The processor 516 executes various functional applications and data processing by executing at least one of other programs of the programs stored in the memory 528, for example, to implement a barrier driving method provided in the embodiment of the present application.
One embodiment of the present application provides a storage medium containing computer-executable instructions that, when executed by a computer processor, perform a barrier driving method, comprising:
acquiring driving information of an intelligent mobile device and obstacle information around the intelligent mobile device;
determining whether the intelligent mobile device has starting conditions for backing off obstacles or not according to the driving information and the obstacle information of the intelligent mobile device;
if yes, planning an unwinding barrier reversing path for the intelligent mobile device, wherein the unwinding barrier reversing path comprises a target reversing path and a target advancing obstacle detouring path;
and controlling the intelligent mobile device to carry out backward movement according to a target backward path, and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to a target forward obstacle-detouring path.
The computer storage media of the embodiments of the present application may take any combination of one or more computer-readable storage media. The computer readable storage medium may be a computer readable signal storage 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 device, apparatus, 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 embodiments of the present application, a computer readable storage medium may be any tangible storage medium that can contain, or store a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
A computer readable signal storage 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 many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal storage medium may also be any computer readable storage 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 apparatus, device, or apparatus.
Program code embodied on a computer readable storage medium may be transmitted using any appropriate storage 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 application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, 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 device. 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 application and the technical principles employed. It will be understood by those skilled in the art that the present application 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 application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims (13)

1. An obstacle detouring method, comprising:
acquiring driving information of an intelligent mobile device and obstacle information around the intelligent mobile device;
determining whether the intelligent mobile device has starting conditions for backing off obstacles or not according to the driving information and the obstacle information of the intelligent mobile device;
if yes, planning an unwinding barrier reversing path for the intelligent mobile device, wherein the unwinding barrier reversing path comprises a target reversing path and a target advancing obstacle detouring path;
and controlling the intelligent mobile device to carry out backward movement according to a target backward path, and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to a target forward obstacle-detouring path.
2. The method of claim 1, wherein the driving information comprises state information of the smart mobile device, a driving mode, a moving speed, a number of times that the smart mobile device has started backing off an obstacle in a current road section within a preset time period, and a moving state of the smart mobile device at a historical time;
correspondingly, whether the intelligent mobile device has starting conditions for backing off the obstacle is determined according to the running information and the obstacle information of the intelligent mobile device, comprising,
when the following conditions are met, determining that the intelligent mobile device has starting conditions of backing-off barriers:
the state of the intelligent mobile device is not abnormal;
the running mode is a forward running mode;
the moving speed is less than a preset speed threshold;
the number of times that the intelligent mobile device starts to rewind the obstacle in the current road section in a preset time period is smaller than a preset number of times;
the moving state of the intelligent mobile device at the historical moment is a deceleration state;
the distance between a front obstacle in a scene where the intelligent mobile device is located and the intelligent mobile device is smaller than a first preset distance;
the distance between the front obstacle and any boundary of the road is larger than a second preset distance, or the distance between two adjacent front obstacles is larger than the second preset distance.
3. The method of claim 2, wherein determining whether the smart mobile device is provided with a start-up condition for an unwinding barrier comprises:
if the state of the intelligent mobile device is not abnormal, the running mode is a forward running mode, the moving speed is smaller than a preset speed threshold value, the number of times that the intelligent mobile device starts an unwinding barrier in the current road section within a preset time period is smaller than a preset number of times, and the moving state of the intelligent mobile device at the historical moment is determined;
if the moving state of the intelligent mobile device at the historical moment is a deceleration state, determining the position information of the front obstacle of the intelligent mobile device;
if the distance between the front obstacle and the intelligent mobile device in the scene where the intelligent mobile device is located is smaller than a first preset distance, the distance between the front obstacle and any boundary of a road is larger than a second preset distance, or the distance between two adjacent front obstacles is larger than the second preset distance, it is determined that the intelligent mobile device has a starting condition for backing off the obstacle.
4. The method of claim 2, wherein before determining that the number of times the smart mobile device has started rewinding barriers on the current road segment within a preset time period is less than a preset number, the method further comprises:
if the distance difference between the current position of the intelligent mobile device and the historical position of the intelligent mobile device in the historical starting information of the barrier reversing and detouring is smaller than a preset distance difference, determining the number of times that the intelligent mobile device starts the barrier reversing and withdrawing in a current road section in a preset time period according to the historical starting information;
and if the distance difference between the current position of the intelligent mobile device and the historical position of the intelligent mobile device in the historical starting information of the barrier reversing is larger than or equal to a preset distance difference, the historical starting information is removed.
5. The method according to any one of claims 1-4, further comprising:
if the intelligent mobile device does not have the starting condition of the backing-off obstacle or the path planning of the backing-off obstacle fails, updating the times of invalid starting of the backing-off obstacle;
and if the intelligent mobile device has the starting condition of the backing-off obstacle and the path planning of backing-off and obstacle-detouring is successful, updating the times of effectively starting the backing-off obstacle.
6. The method of claim 5, further comprising:
if the sum of the times of effectively starting the backing-off obstacle and the times of ineffectively starting the backing-off obstacle is greater than the preset times, calculating the probability of effectively starting the backing-off obstacle and the skewness of starting the backing-off obstacle;
and if the probability is greater than the preset probability and the skewness is greater than the preset skewness, executing the step of controlling the intelligent mobile device to reverse the unwinding barrier.
7. The method of any one of claims 1-4, wherein planning a target retrograde path and a target forward obstacle detour path for a smart mobile device comprises:
determining a candidate reverse path by taking the current position of the intelligent mobile device as the starting point of the reverse path and taking a preset sampling point behind the intelligent mobile device as the end point of the reverse path; the preset sampling point is a sampling point on a straight line which is perpendicular to the moving direction of the intelligent mobile device and is at a third preset distance behind the intelligent mobile device;
determining weights of candidate reverse paths, and determining a target reverse path from the candidate reverse paths according to the weights;
and determining a target forward obstacle detouring path according to the end point of the target reverse path and the obstacle detouring passing point.
8. The method according to claim 7, wherein the determining of the obstacle detour point comprises:
determining an obstacle detouring area where the intelligent mobile device detours the obstacle according to the distance between the edge of the front obstacle and the boundary of the road or the distance between the edges of two adjacent front obstacles;
and taking the middle point of the obstacle detouring area as an obstacle detouring passing point.
9. The method of claim 7, wherein determining weights for the candidate fallback paths comprises:
carrying out collision detection on a rear obstacle and a candidate backward path in a scene where the intelligent mobile device is located, and determining the effective length and the effective end point of the candidate backward path;
calculating the weight value of the candidate reverse path according to at least one of the following conditions:
a distance of the candidate retrograde path from the rear obstacle;
an effective length of the candidate fallback path;
course deviation information of the effective terminal point and the obstacle detouring passing point;
a minimum distance of the candidate reverse path from a road boundary;
a rate of change of curvature of the candidate retrograde path.
10. The method of claim 1, wherein controlling the smart mobile device for reverse movement according to a target reverse path and controlling the smart mobile device for forward obstacle detour movement according to a target forward obstacle detour path comprises:
determining first position information that the smart mobile device is located on the target reverse path and second position information that the smart mobile device is located on the target forward obstacle detour path;
and if the fact that the intelligent mobile device does not finish reverse movement is determined according to the first position information, clearing data corresponding to a target reverse path which has already passed in the process of reverse movement of the intelligent mobile device, and if the fact that the intelligent mobile device does not finish forward movement is determined according to the second position information, clearing data corresponding to a target forward obstacle bypassing path which has already passed in the process of forward movement of the intelligent mobile device.
11. An obstacle-detouring traveling device, comprising:
the information acquisition module is used for acquiring driving information of the intelligent mobile device and obstacle information around the intelligent mobile device;
the condition judgment module is used for determining whether the intelligent mobile device has starting conditions for backing off the obstacle according to the driving information and the obstacle information of the intelligent mobile device;
the path planning module is used for planning a target backward path and a target forward obstacle detouring path for the intelligent mobile device if the intelligent mobile device is provided with the path planning module;
and the control module is used for controlling the intelligent mobile device to carry out backward movement according to a target backward path and controlling the intelligent mobile device to carry out forward obstacle-detouring movement according to a target forward obstacle-detouring path.
12. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the barrier travel method of any one of claims 1-10.
13. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out an obstacle detour method according to any one of claims 1 to 10.
CN202110899008.6A 2021-08-06 2021-08-06 Obstacle-detouring driving method and device, electronic equipment and medium Active CN113335312B (en)

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