CN113479199B - Open area obstacle avoidance method, vehicle and computer-readable storage medium - Google Patents
Open area obstacle avoidance method, vehicle and computer-readable storage medium Download PDFInfo
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- CN113479199B CN113479199B CN202110871159.0A CN202110871159A CN113479199B CN 113479199 B CN113479199 B CN 113479199B CN 202110871159 A CN202110871159 A CN 202110871159A CN 113479199 B CN113479199 B CN 113479199B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Abstract
The application provides an open area obstacle avoidance method, a vehicle and a computer readable storage medium, wherein the open area obstacle avoidance method comprises the following steps: acquiring obstacle information, vehicle information and boundary information of an open area; judging whether the distance between the obstacle and the vehicle is smaller than the obstacle avoidance decision distance or not, and generating a first judgment result; if the first judgment result is yes, generating a reference line according to at least one of the obstacle information, the vehicle information and the boundary information of the open area; a barrier-bypassing trajectory is generated based on the reference line. According to the technical scheme, the obstacle-avoiding track can be generated on the unstructured road by the unmanned vehicle, and obstacles are avoided, so that the vehicle can smoothly run.
Description
Technical Field
The application belongs to the technical field of unmanned driving, and particularly relates to an open area obstacle avoidance method, a vehicle and a computer-readable storage medium.
Background
In the field of unmanned driving, when an unmanned vehicle runs, the front of the unmanned vehicle often meets an obstacle to block a running track, and at the moment, a reasonable obstacle avoidance track is planned by an unmanned vehicle planning module according to environmental information and is used for driving the obstacle, so that the unmanned vehicle can run smoothly.
In order to generate a proper obstacle avoidance trajectory, a proper reference line needs to be provided for the planning module. The currently provided reference line mode is usually based on a structured road, and the lane center line is used as a reference line. This method is only applicable to environments with structured roads. However, some engineering vehicles, such as mine cars, work in mining areas, which are often temporary roads or open areas without structured roads, and when obstacles are encountered, the mode shows limitations.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
In view of the above, an object of the present application is to provide an open area obstacle avoidance method.
It is another object of the present application to provide a vehicle.
It is yet another object of the present application to provide a vehicle.
It is yet another object of the present application to provide a computer-readable storage medium.
In order to achieve at least one of the above objects, according to a first aspect of the present invention, an open area obstacle avoidance method is provided, including: acquiring obstacle information, vehicle information and boundary information of an open area; judging whether the distance between the obstacle and the vehicle is smaller than the obstacle avoidance decision distance or not, and generating a first judgment result; if the first judgment result is yes, generating a reference line according to at least one of the obstacle information, the vehicle information and the boundary information of the open area; a barrier-bypassing trajectory is generated based on the reference line.
According to the open area obstacle avoidance method, when the distance between an obstacle and a vehicle is smaller than an obstacle avoidance decision distance, a reference line is generated according to at least one of obstacle information, vehicle information and boundary information of an open area, and then an obstacle avoidance track is generated based on the reference line. Unlike the structured road, the lane center line is used as the reference line, and the reference line is generated through at least one of the obstacle information, the vehicle information and the boundary information of the open area, so that when the vehicle encounters an obstacle on a temporary road, an open area or an unstructured road, an obstacle-avoiding track can be generated according to the reference line, and the vehicle can smoothly run while avoiding the obstacle.
In addition, the technical scheme provided by the application can also have the following additional technical characteristics:
in the above technical solution, when the first determination result is yes, generating a reference line according to at least one of the obstacle information, the vehicle information, and the boundary information of the open area, specifically includes: when the first judgment result is yes, judging whether boundary information of the open area is obtained or not, and generating a second judgment result; if the second determination result is yes, a reference line is generated based on the boundary information of the open area.
According to the technical scheme, when the distance between the obstacle and the vehicle is smaller than the safe distance and the boundary information of the open area can be obtained, the reference line is generated according to the boundary information of the open area, so that the reference line is generated when the vehicle runs on unstructured roads such as temporary roads without lane center lines, the obstacle detouring track is generated, and the obstacle is avoided when the vehicle encounters the obstacle.
In the above technical solution, the open area obstacle avoidance method further includes: when the second judgment result is negative, judging whether the current vehicle has a running track or not, and generating a third judgment result; if so, judging whether the obstacle blocks the driving track or not to generate a fourth judgment result; and when the fourth judgment result is yes, taking the running track as a reference line.
In the technical scheme, when the boundary information of the open area cannot be obtained, but the current vehicle has a running track and an obstacle blocks the running track, the running track is used as a reference line, so that the vehicle can run on an unstructured road without a lane center line, and when the boundary information of the open area cannot be obtained, the reference line is generated, the obstacle detouring track is further generated, and the obstacle is avoided when the obstacle is met.
In the above technical solution, the open area obstacle avoidance method further includes: when the third judgment result is negative, judging whether the barrier is in a preset range in front of the vehicle, and generating a fifth judgment result; and when the fifth judgment result is yes, connecting the vehicle position and the blocking obstacle position into a straight line as a reference line.
In the technical scheme, when the boundary information of the open area cannot be obtained and the current vehicle has no running track, if the obstacle is in a preset range in front of the vehicle, a straight line is connected to be used as a reference line based on the position of the vehicle and the position of the obstacle, so that the vehicle can run on an unstructured road without a lane center line, and when the boundary information of the open area and the current vehicle running track cannot be obtained, the reference line is generated, the obstacle-bypassing track is further generated, and the obstacle is avoided when meeting the obstacle.
In the above technical solution, when the second determination result is yes, the method for avoiding the obstacle in the open area generates the reference line according to the left and right boundaries of the open area, and specifically includes: generating a Voronoi diagram according to the boundary information of the open area; removing the verono edge intersected with the barrier in the verono diagram; generating a curve according to the rest Voronoi edges; the curve is smoothed as a reference line.
In the technical scheme, when the boundary information of the open area can be obtained, firstly, a voronoi diagram is generated according to the boundary information of the open area, then, unsuitable voronoi edges, such as voronoi edges intersected with an obstacle, are removed, finally, a curve is generated according to the remaining voronoi edges, the curve is smoothed, and the curve is used as a reference line. By generating the Voronoi diagram and further generating the reference line, the Voronoi diagram has the characteristic of being closest to the point according to the distance from the area divided by the point set, so that the obstacle can be avoided and the optimal path can be generated.
In the technical scheme, the obstacle-detouring decision distance is determined according to the speed difference between the vehicle and the obstacle.
In this technical solution, the obstacle may be a stationary object or a moving object. When the obstacle is a static object, the speed of the obstacle is zero, and the obstacle avoidance decision distance between the obstacle and the vehicle can be judged according to the speed of the vehicle. And when the obstacle is a moving object, determining the obstacle avoidance decision distance according to the speed difference between the vehicle and the obstacle. The speed difference between the vehicle and the obstacle is the relative speed between the vehicle and the obstacle.
In the above technical solution, the open area obstacle avoidance method, which generates an obstacle avoidance trajectory based on a reference line, specifically includes: acquiring a decision instruction; judging whether the decision instruction generates a barrier avoidance decision or not, and generating a sixth judgment result; if the sixth judgment result is yes, constructing a Ferner coordinate system based on the reference line, and projecting the vehicle and the obstacle to the Ferner coordinate system; taking out a plurality of points on the left side and the right side of the barrier; generating a plurality of curves of the vehicle position to a plurality of point positions; selecting one curve from a plurality of curves as a barrier-detouring front-section track according to the position, the curvature, the driving distance and the lateral speed of the barrier; when the vehicle reaches the obstacle detouring front section track end point, taking out a corresponding point from a reference line in front of the vehicle according to the position, the curve curvature, the driving distance and the lateral speed of the obstacle; generating a curve from the vehicle position to the corresponding point position as an obstacle detouring rear section track; and when the vehicle reaches the corresponding point, the obstacle avoidance is finished.
According to the technical scheme, when a decision instruction for generating obstacle avoidance decision is obtained, a Ferner coordinate system is built based on a reference line, the vehicle and the obstacle are projected to the Ferner coordinate system, and the position state of the automatically-driven vehicle at every moment can be decomposed in two directions of transverse displacement and longitudinal displacement to describe the motion state of the vehicle based on the Ferner coordinate system, so that the workload of processing coordinate information is reduced when a track curve is fitted. Then, a plurality of points are taken out from the left side and the right side of the obstacle, a plurality of curves from the vehicle position to the plurality of point positions are generated, and one curve is selected from the plurality of curves as a front obstacle detouring track according to the position of the obstacle, the curvature of the curve, the driving distance and the lateral speed. And after the vehicle reaches the obstacle detouring front section track end point, taking out a corresponding point from a reference line in front of the vehicle according to the position of the obstacle, the curvature of the curve, the running distance and the lateral speed, and generating a curve from the position of the vehicle to the corresponding point position as an obstacle detouring rear section track. And after the vehicle reaches the corresponding point, obstacle avoidance is finished, and the vehicle returns to the original driving path. A barrier-avoiding track can be planned by constructing a Ferner coordinate system based on the reference line, so that the vehicle can avoid the barrier.
In the technical scheme, under a Fliner coordinate system, a plurality of curves from the vehicle position to a plurality of point positions are generated according to a fifth-order polynomial algorithm and/or a Dubin curve algorithm and/or a Reeds-Shepp curve algorithm; and under a Flrenaner coordinate system, generating a curve from the position of the vehicle to the position of a corresponding point according to a fifth-order polynomial algorithm and/or a Dubin curve algorithm and/or a Reeds-Shepp curve algorithm, and using the curve as a barrier-avoiding rear track.
In the technical scheme, a plurality of curves from the vehicle position to a plurality of point positions are generated through a fifth-order polynomial algorithm or a Dubin curve algorithm or a Reeds-Shepp curve algorithm, and the curves are the shortest paths from the vehicle position to the plurality of point positions. And generating a curve from the vehicle position to the corresponding point position as an obstacle detouring rear-section track through a fifth-order polynomial algorithm or a Dubin curve algorithm or a Reeds-Shepp curve algorithm, wherein the obstacle detouring rear-section track is the shortest path from the vehicle position to the corresponding point position.
An aspect of the second aspect of the present application provides a vehicle including: the acquisition module is used for acquiring barrier information, vehicle information and boundary information of an open area; the judging module is used for judging whether the distance between the barrier and the vehicle is smaller than the safe distance or not and generating a first judging result; the generating module is used for generating a reference line according to at least one of the obstacle information, the vehicle information and the boundary information of the open area when the first judgment result is yes; the generation module is further configured to generate an obstacle detouring trajectory based on the reference line.
In the technical scheme, the vehicle comprises an acquisition module, a judgment module and a generation module. The acquisition module is used for acquiring obstacle information, vehicle information and boundary information of an open area. The judging module is used for judging whether the distance between the barrier and the vehicle is smaller than the safe distance or not and generating a first judging result. The generation module is used for generating a reference line according to at least one of the obstacle information, the vehicle information and the boundary information of the open area when the first judgment result is yes. The generation module is further configured to generate an obstacle detouring trajectory based on the reference line. Through the acquisition module, the judgment module and the generation module, the vehicle can generate an obstacle detouring track on an unstructured road without a lane center line, and avoids obstacles when encountering the obstacles.
An aspect of the third aspect of the present application provides a vehicle including: the method includes a memory and a processor, where the memory stores a computer program or an instruction that can be executed on the processor, and the processor implements the steps of the open area obstacle avoidance method according to any one of the first aspect when executing the computer program, so that the method has the technical effects of any one of the first aspect, and details are not repeated here.
A fourth aspect of the present application provides a computer-readable storage medium, where a computer program or an instruction is stored, and the computer program or the instruction, when executed by a processor, implements the steps of the open area obstacle avoidance method according to any one of the first aspect, so that the method has the technical effects of any one of the first aspect, and details are not repeated herein.
Additional aspects and advantages of embodiments in accordance with the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments in accordance with the application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic workflow diagram of an open area obstacle avoidance method according to an embodiment of the present application;
fig. 2 is a schematic view of a work flow of an open area obstacle avoidance method according to an embodiment of the present application;
fig. 3 is a schematic workflow diagram of an open area obstacle avoidance method according to an embodiment of the present application;
fig. 4 is a schematic workflow diagram of an open area obstacle avoidance method according to an embodiment of the present application;
fig. 5 is a schematic workflow diagram of an open area obstacle avoidance method according to an embodiment of the present application;
fig. 6 is a schematic workflow diagram of an open area obstacle avoidance method according to an embodiment of the present application;
FIG. 7 is a block diagram schematically illustrating a structure of a vehicle according to an embodiment of the present application;
FIG. 8 is a block diagram schematically illustrating the structure of a vehicle according to another embodiment of the present application;
FIG. 9 is a schematic illustration of reference line generation based on travelable regions in accordance with an embodiment of the present application;
FIG. 10 is a schematic illustration of a reference line generated based on a travel path in accordance with an embodiment of the present application;
FIG. 11 is a schematic illustration of generating reference lines based on location according to an embodiment of the present application;
fig. 12 is a schematic workflow diagram of an open area obstacle avoidance method according to an embodiment of the present application.
Wherein, the correspondence between the reference numbers and the part names in fig. 7 and 8 is:
10: a vehicle; 100: an acquisition module; 200: a judgment module; 300: a generation module; 400: a memory; 500: a processor.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
Some embodiments of the present application are described below with reference to fig. 1-12.
As shown in fig. 1, an open area obstacle avoidance method according to an embodiment of the present invention includes:
step S102: acquiring obstacle information, vehicle information and boundary information of an open area;
step S104: judging whether the distance between the obstacle and the vehicle is smaller than the obstacle avoidance decision distance or not, and generating a first judgment result;
step S106: if the first judgment result is yes, generating a reference line according to at least one of the obstacle information, the vehicle information and the boundary information of the open area;
step S108: a barrier-bypassing trajectory is generated based on the reference line.
In the embodiment, the obstacle information, the vehicle information and the boundary information of the open area are firstly acquired, then when the distance between the obstacle and the vehicle is smaller than the obstacle detouring distance, a reference line is generated according to at least one of the obstacle information, the vehicle information and the boundary information of the open area, and finally the obstacle detouring track is generated based on the reference line. Unlike the structured road, the lane center line is used as the reference line, and the reference line is generated through at least one of the obstacle information, the vehicle information and the boundary information of the open area, so that when the vehicle encounters an obstacle on a temporary road, an open area or an unstructured road, an obstacle-avoiding track can be generated according to the reference line, and the vehicle can smoothly run while avoiding the obstacle. The obstacle detouring decision distance is a preset time distance, the unit of the time distance is second, and then the time distance is multiplied by the relative speed to obtain a distance. Or, the obstacle avoidance decision distance is a product of a time distance and a relative speed, wherein the time distance is a preset numerical value and is measured in seconds, and the relative speed refers to the relative speed of the vehicle relative to the obstacle.
As shown in fig. 2, the open area obstacle avoidance method according to an embodiment of the present invention specifically includes the following steps:
step S202: acquiring obstacle information, vehicle information and boundary information of an open area;
step S204: judging whether the distance between the obstacle and the vehicle is smaller than the obstacle avoidance decision distance or not, and generating a first judgment result;
step S206: when the first judgment result is yes, judging whether boundary information of the open area is obtained or not, and generating a second judgment result;
step S208: if the second determination result is yes, a reference line is generated from the boundary of the open area.
In the embodiment, when the distance between the obstacle and the vehicle is smaller than the obstacle detouring distance and the boundary information of the open area can be obtained, the reference line is generated according to the boundary information of the open area, so that the reference line is generated when the vehicle runs on an unstructured road such as a temporary road without a lane center line, the obstacle detouring track is generated, and the obstacle detouring track is avoided when meeting the obstacle.
As shown in fig. 3, the open area obstacle avoidance method according to an embodiment of the present invention specifically includes the following steps:
step S302: acquiring obstacle information, vehicle information and boundary information of an open area;
step S304: judging whether the distance between the obstacle and the vehicle is smaller than the obstacle avoidance decision distance or not, and generating a first judgment result;
step S306: when the first judgment result is yes, judging whether boundary information of the open area is obtained or not, and generating a second judgment result;
step S308: when the second judgment result is negative, judging whether the current vehicle has a running track or not, and generating a third judgment result;
step S310: if so, judging whether the obstacle blocks the driving track or not to generate a fourth judgment result;
step S312: and when the fourth judgment result is yes, taking the running track as a reference line.
In this embodiment, when the boundary information of the open area cannot be obtained, but the vehicle has a current running track and an obstacle blocks the running track, the running track is taken as a reference line, so that the vehicle can run on an unstructured road without a lane center line, and when the boundary information of the open area cannot be obtained, the reference line is generated, and then the obstacle detouring track is generated, and the obstacle is avoided when the obstacle is encountered.
As shown in fig. 4, the open area obstacle avoidance method according to an embodiment of the present invention specifically includes the following steps:
step S402: acquiring obstacle information, vehicle information and boundary information of an open area;
step S404: judging whether the distance between the obstacle and the vehicle is smaller than the obstacle avoidance decision distance or not, and generating a first judgment result;
step S406: when the first judgment result is yes, judging whether boundary information of the open area is obtained or not, and generating a second judgment result;
step S408: when the second judgment result is negative, judging whether the current vehicle has a running track or not, and generating a third judgment result;
step S410: when the third judgment result is negative, judging whether the barrier is in a preset range in front of the vehicle, and generating a fifth judgment result;
step S412: and when the fifth judgment result is yes, connecting the vehicle position and the blocking obstacle position to form a straight line as a reference line.
In this embodiment, if the boundary information of the open area cannot be obtained and the current vehicle has no travel track, if the obstacle is within a preset range in front of the vehicle, a straight line is connected as a reference line based on the vehicle position and the obstacle blocking position, so that the vehicle can travel on an unstructured road without a lane center line, and when the boundary information of the open area and the current vehicle travel track cannot be obtained, the reference line is generated, so that an obstacle detouring track is generated, and the obstacle is avoided when encountering the obstacle.
As shown in fig. 5, according to the open area obstacle avoidance method provided in an embodiment of the present invention, when the second determination result is yes, the reference line is generated according to the left and right boundaries of the open area, which specifically includes the following steps:
step S502: generating a Voronoi diagram according to the boundary information of the open area;
step S504: removing the veronol edge which is intersected with the barrier in the veronol graph;
step S506: generating a curve according to the rest voronoi edges;
step S508: the curve is smoothed as a reference line.
In this embodiment, when the boundary information of the open area is available, a voronoi diagram is first generated according to the boundary information of the open area, then unsuitable voronoi edges, such as voronoi edges intersecting with an obstacle, are removed, and finally a curve is generated according to the remaining voronoi edges, and the curve is smoothed and used as a reference line. By generating the Voronoi diagram and further generating the reference line, the Voronoi diagram has the characteristic of being closest to the point according to the distance from the area divided by the point set, so that the obstacle can be avoided and the optimal path can be generated.
In the above embodiment, the obstacle detour decision distance is determined based on the speed difference between the vehicle and the obstacle. In particular, the obstacle may be a stationary object or a moving object. When the obstacle is a static object, the speed of the obstacle is zero, and the obstacle avoidance decision distance between the obstacle and the vehicle can be judged according to the speed of the vehicle. And when the obstacle is a moving object, the obstacle-detouring decision distance is determined according to the speed difference between the vehicle and the obstacle. The speed difference between the vehicle and the obstacle is the relative speed between the vehicle and the obstacle.
As shown in fig. 6, the open area obstacle avoidance method according to an embodiment of the present invention generates an obstacle avoidance trajectory based on a reference line, and specifically includes the following steps:
step S602: acquiring a decision instruction;
step S604: judging whether the decision instruction generates a barrier avoidance decision or not, and generating a sixth judgment result;
step S606: if the sixth judgment result is yes, constructing a Ferner coordinate system based on the reference line, and projecting the vehicle and the obstacle to the Ferner coordinate system;
step S608: taking out a plurality of points on the left side and the right side of the barrier;
step S610: generating a plurality of curves of the vehicle position to a plurality of point positions;
step S612: selecting one curve from a plurality of curves as a barrier-detouring front-section track according to the position, the curvature, the driving distance and the lateral speed of the barrier;
step S614: when the vehicle reaches the obstacle detouring front section track end point, taking out a corresponding point from a reference line in front of the vehicle according to the position, curve curvature, driving distance and lateral speed of the obstacle;
step S616: generating a curve from the vehicle position to the corresponding point position as an obstacle detouring rear section track;
step S618: and when the vehicle reaches the corresponding point, the obstacle avoidance is finished.
In the embodiment, when a decision instruction for generating obstacle avoidance decision is acquired, a Fliner coordinate system is constructed based on the reference line, the vehicle and the obstacle are projected to the Fliner coordinate system, and based on the Fliner coordinate system, the position state of the automatic driving vehicle at every moment can be decomposed in two directions of transverse displacement and longitudinal displacement to describe the motion state of the vehicle, so that the workload of processing coordinate information is reduced when a track curve is fitted. Then, a plurality of points are taken out from the left side and the right side of the obstacle, a plurality of curves from the vehicle position to the plurality of point positions are generated, and one curve is selected from the plurality of curves as a front obstacle detouring track according to the position of the obstacle, the curvature of the curve, the driving distance and the lateral speed. And after the vehicle reaches the obstacle detouring front section track end point, taking out a corresponding point from a reference line in front of the vehicle according to the position of the obstacle, the curvature of the curve, the running distance and the lateral speed, and generating a curve from the position of the vehicle to the corresponding point position as an obstacle detouring rear section track. And after the vehicle reaches the corresponding point, obstacle avoidance is finished, and the vehicle returns to the original driving path. A Fleminer coordinate system is constructed based on the reference lines, so that obstacle-detouring tracks can be planned, and a vehicle can avoid obstacles.
In the above embodiment, under the fleiner coordinate system, a plurality of curves from the vehicle position to a plurality of point positions are generated by a fifth-order polynomial algorithm or a durbin curve algorithm or a Reeds-Shepp curve algorithm, and the plurality of curves are shortest paths from the vehicle position to the plurality of point positions. And generating a curve from the vehicle position to the corresponding point position as an obstacle detouring rear-section track through a fifth-order polynomial algorithm or a Dubin curve algorithm or a Reeds-Shepp curve algorithm, wherein the obstacle detouring rear-section track is the shortest path from the vehicle position to the corresponding point position.
As shown in fig. 7, another embodiment of the invention provides a vehicle 10 including: an acquisition module 100, configured to acquire obstacle information, vehicle 10 information, and boundary information of an open area; the judging module 200 is configured to judge whether the distance between the obstacle and the vehicle 10 is smaller than a safe distance, and generate a first judgment result; a generating module 300, configured to generate a reference line according to at least one of the obstacle information, the vehicle 10 information, and the boundary information of the open area when the first determination result is yes; the generation module 300 is further configured to generate a barrier bypassing trajectory based on the reference line.
In this embodiment, the vehicle 10 includes an acquisition module 100, a determination module 200, and a generation module 300. The acquisition module 100 is used to acquire obstacle information, vehicle 10 information, and boundary information of an open area. The determining module 200 is configured to determine whether a distance between the obstacle and the vehicle 10 is smaller than a safe distance, and generate a first determination result. The generating module 300 is configured to generate the reference line according to at least one of the obstacle information, the vehicle 10 information, and the boundary information of the open area when the first determination result is yes. The generation module 300 is further configured to generate a barrier bypassing trajectory based on the reference line. Through the acquiring module 100, the judging module 200 and the generating module 300, the vehicle 10 can generate an obstacle detouring track on an unstructured road without a lane center line, and avoid an obstacle when meeting the obstacle.
As shown in fig. 8, still another embodiment of the invention provides a vehicle 10 including: the memory 400 and the processor 500, where the memory 400 stores a computer program or an instruction that can be executed on the processor 500, and the processor 500 implements the steps of the open area obstacle avoidance method according to any of the embodiments when executing the computer program, so that the method has the technical effects of any of the embodiments, and is not described herein again.
Yet another embodiment of the present invention provides a computer-readable storage medium, and a computer program or instructions, when executed by a processor, implement the steps of the open area obstacle avoidance method according to any of the above embodiments, so that the technical effects of any of the above embodiments are achieved, and details are not repeated herein.
As shown in fig. 9, fig. 10, and fig. 11, the method for avoiding an obstacle in an open area provided by the present application is described in detail according to a specific embodiment of the present application. Different from the existing obstacle avoidance mode based on the lane center line, the method has three forms for generating the reference line: 1. generating a reference line based on the travelable region; 2. generating a reference line based on the driving track; 3. a reference line is generated based on the obstacle and the vehicle position.
In order to achieve the technical purpose, the method includes the steps of obtaining a travelable region, obstacle information and vehicle information from a sensing and positioning module, synthesizing the travelable region, a travelling path and position information of a vehicle and an obstacle to generate a reference line, establishing a Frenet-Serret coordinate system (a Flrenaner coordinate system) based on the reference line, and planning an obstacle detouring path by combining an algorithm such as a quintic polynomial or a Dubin curve or a Reeds-Shepp curve.
As shown in fig. 12, the specific workflow is as follows:
step S700: the sensing module acquires barrier information and a travelable area and transmits the barrier information and the travelable area to the decision planning module;
step S702: judging whether the distance between the obstacle and the vehicle is smaller than a safe distance, determining the safe distance according to the speed difference between the vehicle and the obstacle, if not, not generating an obstacle avoidance decision, and entering step S728; if yes, go to step S704;
step S704: judging whether the slave sensing module obtains the left and right boundary information of the drivable area, if not, entering a step S706, and if so, entering a step S708;
step S706: judging whether the vehicle at the current frame has a driving track, if not, entering step S710; if yes, go to step S712;
step S708: generating a Voronoi Diagram (Voronoi Diagram) according to the left and right boundaries of the travelable region, and removing inappropriate Voronoi edges (such as intersection with an obstacle) from the Voronoi Diagram; generating a suitable curve according to the remaining Voronoi Edge, smoothing the curve as a reference line, and entering step S714;
step S710: checking whether the obstacle is in a certain angle range in front of the vehicle, if not, entering S728, if so, connecting the position of the vehicle and the position of the obstacle to form a straight line as a reference line, and entering S714;
step S712: checking whether the obstacle blocks the running track, if not, entering step 728, and if so, taking the running track as a reference line and entering step 714;
step S714: judging a decision instruction from the outside, if the decision instruction is not allowed, entering step 728, if the decision instruction is allowed, generating a barrier avoidance decision, and entering step 716;
step S716: constructing a Frenet-Serret coordinate system (Fliner coordinate system) based on the temporary reference line, and projecting the vehicle and the blocking obstacle to the Frenet-Serret coordinate system (Fliner coordinate system);
step S718: taking out proper points A.B.C and the like at the left side and the right side of the barrier;
step S720: curves a, b, c, etc. from the vehicle position to the above-described point position are generated by an algorithm such as a fifth-order polynomial, a Dubin curve (durbin curve), or a Reeds-Shepp curve in the Frenet-Serret coordinate system (flener coordinate system). Then selecting a proper curve (considering whether the curve collides with an obstacle or not, whether the curvature is proper or not, the driving distance, the lateral speed and other factors) as a barrier-bypassing front-section track;
step S722: when the vehicle reaches the obstacle detouring front section track terminal, taking out a corresponding point Z from a reference line of a proper distance (considering whether the vehicle collides with an obstacle or not, whether the curvature is proper or not, a running distance, a lateral speed and other factors) in front of the vehicle;
step S724: under a Frenet-Serret coordinate system (a Flrenat coordinate system), generating a curve Z from the position of the vehicle to the position of the Z point by using an algorithm such as a fifth-order polynomial or a Dubin curve (Dubin curve) or a Reeds-Shepp curve and the like, and taking the curve Z as a barrier-bypassing rear-section track;
step S726: after the vehicle reaches the Z point, obstacle detouring is finished, and the vehicle returns to the original driving path;
step S728: the decision planning process is ended.
In the alternative, an additional professional team is required to make a high-precision map in the open area, which is equivalent to making a virtual lane line and sending the virtual lane line to the planning module as a planning reference line.
In summary, the embodiment has the following beneficial effects: a new obstacle-detouring track planning mode is provided, the problem of safe avoidance of obstacles in the driving process of an open environment/region (without lane lines) is solved, a structured road is not needed, and a self-adaptive generated reference line is used for generating a driving track by a planning module.
In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "connected" may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or unit referred to must have a specific direction, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An open area obstacle avoidance method is characterized by comprising the following steps:
acquiring obstacle information, vehicle information and boundary information of an open area;
judging whether the distance between the obstacle and the vehicle is smaller than the obstacle avoidance decision distance or not, and generating a first judgment result;
when the first judgment result is yes, generating a reference line according to at least one of the obstacle information, the vehicle information and the boundary information of the open area;
generating an obstacle detouring trajectory based on the reference line;
wherein the generating of the obstacle detouring trajectory based on the reference line specifically includes:
acquiring a decision instruction;
judging whether the decision instruction generates an obstacle avoidance decision or not, and generating a sixth judgment result;
if the sixth judgment result is yes, constructing a Ferner coordinate system based on the reference line, and projecting the vehicle and the obstacle to the Ferner coordinate system;
taking out a plurality of points on the left and right sides of the barrier;
generating a plurality of curves of the vehicle position to a plurality of point positions;
selecting one curve from a plurality of curves as an obstacle detouring forepart track according to the position, the curvature, the driving distance and the lateral speed of an obstacle;
after the vehicle reaches the obstacle detouring front section track end point, taking out a corresponding point from the reference line in front of the vehicle according to the position of the obstacle, the curve curvature, the running distance and the lateral speed;
generating a curve from the vehicle position to the corresponding point position as an obstacle detouring rear section track;
and after the vehicle reaches the corresponding point, obstacle avoidance is finished.
2. The open area obstacle avoidance method according to claim 1, wherein when the first determination result is yes, generating a reference line according to at least one of the obstacle information, the vehicle information, and boundary information of the open area, specifically includes:
when the first judgment result is yes, judging whether boundary information of the open area is obtained or not, and generating a second judgment result;
and if the second judgment result is yes, generating a reference line according to the boundary information of the open area.
3. The open area obstacle avoidance method according to claim 2, further comprising:
when the second judgment result is negative, judging whether the current vehicle has a running track or not, and generating a third judgment result;
when the third judgment result is yes, judging whether the obstacle blocks the driving track or not, and generating a fourth judgment result;
and when the fourth judgment result is yes, taking the running track as a reference line.
4. The open area obstacle avoidance method according to claim 3, further comprising:
when the third judgment result is negative, judging whether the obstacle is in a preset range in front of the vehicle, and generating a fifth judgment result;
and when the fifth judgment result is yes, connecting the vehicle position and the blocking obstacle position into a straight line as a reference line.
5. The open area obstacle avoidance method according to any one of claims 2 to 4, wherein when the second determination result is yes, generating a reference line according to left and right open area boundaries specifically includes:
generating a Voronoi diagram according to the boundary information of the open area;
removing the Voronoi edges in the Voronoi diagram, which intersect with the obstacles;
generating a curve according to the rest voronoi edges;
the curve is smoothed as a reference line.
6. An open area obstacle avoidance method according to any one of claims 1 to 4,
the obstacle avoidance decision distance is determined from a speed difference between a vehicle and the obstacle.
7. An open area obstacle avoidance method according to claim 1,
generating a plurality of curves from the position of the vehicle to a plurality of point positions according to a fifth-order polynomial algorithm and/or a Dubin curve algorithm and/or a Reeds-Shepp curve algorithm in a Fremant coordinate system;
and under a Flrenaner coordinate system, generating a curve from the vehicle position to the corresponding point position according to a fifth-order polynomial algorithm and/or a Dubin curve algorithm and/or a Reeds-Shepp curve algorithm, and taking the curve as a barrier-detouring rear-segment track.
8. A vehicle, characterized by comprising:
an acquisition module (100) for acquiring obstacle information, vehicle information, and boundary information of an open area;
the judging module (200) is used for judging whether the distance between the obstacle and the vehicle is smaller than the safe distance or not and generating a first judging result;
a generating module (300) configured to generate a reference line according to at least one of the obstacle information, the vehicle information, and the boundary information of the open area when the first determination result is yes;
the generation module (300) is further configured to generate an obstacle detouring trajectory based on the reference line;
wherein the generating of the obstacle detouring trajectory based on the reference line specifically includes:
acquiring a decision instruction; judging whether the decision instruction generates an obstacle avoidance decision or not, and generating a sixth judgment result; if the sixth judgment result is yes, constructing a Ferner coordinate system based on the reference line, and projecting the vehicle and the obstacle to the Ferner coordinate system; taking out a plurality of points on the left and right sides of the barrier; generating a plurality of curves of the vehicle position to a plurality of point positions; selecting one curve from the plurality of curves as an obstacle detouring forepart track according to the position, the curvature, the driving distance and the lateral speed of the obstacle; after the vehicle reaches the obstacle detouring front section track end point, taking out a corresponding point from the reference line in front of the vehicle according to the position of the obstacle, the curve curvature, the running distance and the lateral speed; generating a curve from the vehicle position to the corresponding point position as an obstacle detouring rear section track; and after the vehicle reaches the corresponding point, obstacle avoidance is finished.
9. A vehicle, characterized by comprising:
a memory (400) and a processor (500), wherein the memory (400) has stored thereon a computer program or instructions executable on the processor (500), the processor (500) when executing the computer program implementing the steps of the open area obstacle avoidance method according to any one of claims 1 to 7.
10. A computer-readable storage medium, having stored thereon a computer program or instructions, which, when executed by a processor, carry out the steps of the open area obstacle avoidance method of any one of claims 1 to 7.
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| CN114834463B (en) * | 2022-06-28 | 2022-11-04 | 小米汽车科技有限公司 | Vehicle control method, device, storage medium, electronic device, chip and vehicle |
| CN117622227B (en) * | 2024-01-24 | 2024-04-16 | 广汽埃安新能源汽车股份有限公司 | Vehicle lane changing obstacle avoidance control method and device |
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| US10816990B2 (en) * | 2017-12-21 | 2020-10-27 | Baidu Usa Llc | Non-blocking boundary for autonomous vehicle planning |
| US11048260B2 (en) * | 2018-11-02 | 2021-06-29 | Zoox, Inc. | Adaptive scaling in trajectory generation |
| CN112955358A (en) * | 2018-11-02 | 2021-06-11 | 祖克斯有限公司 | Trajectory generation |
| CN111332285B (en) * | 2018-12-19 | 2021-07-09 | 长沙智能驾驶研究院有限公司 | Method and device for vehicle to avoid obstacle, electronic equipment and storage medium |
| CN109739246B (en) * | 2019-02-19 | 2022-10-11 | 阿波罗智能技术(北京)有限公司 | Decision-making method, device, equipment and storage medium in lane changing process |
| US20200298859A1 (en) * | 2019-03-21 | 2020-09-24 | The Regents Of The University Of Michigan | Safe Autonomous Overtaking with Intention Estimation |
| CN110550029B (en) * | 2019-08-12 | 2021-02-09 | 华为技术有限公司 | Obstacle avoiding method and device |
| US11279350B2 (en) * | 2019-12-27 | 2022-03-22 | Automotive Research & Testing Center | Method of adaptive trajectory generation for a vehicle |
| CN111469836B (en) * | 2020-02-28 | 2022-12-20 | 广东中科臻恒信息技术有限公司 | Obstacle avoidance method and device based on vehicle-mounted unit and road side unit, and storage medium |
| CN111717202A (en) * | 2020-07-01 | 2020-09-29 | 新石器慧通（北京）科技有限公司 | Driving prompting method and device for unmanned vehicle |
| WO2022133684A1 (en) * | 2020-12-21 | 2022-06-30 | 华为技术有限公司 | Control method, related device, and computer-readable storage medium |
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