CN114475602B - Vehicle, vehicle turning method and device - Google Patents
Vehicle, vehicle turning method and device Download PDFInfo
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- CN114475602B CN114475602B CN202011262071.0A CN202011262071A CN114475602B CN 114475602 B CN114475602 B CN 114475602B CN 202011262071 A CN202011262071 A CN 202011262071A CN 114475602 B CN114475602 B CN 114475602B
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- 238000001514 detection method Methods 0.000 claims description 29
- 230000003068 static effect Effects 0.000 claims description 12
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 description 6
- 230000002457 bidirectional effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a vehicle, a vehicle turning method and a vehicle turning device, and belongs to the field of automatic driving vehicles. The method comprises the following steps: in the turning process, a forward direction path and a backward direction path (simply called a current forward path and a current backward path) corresponding to the current position of the vehicle are planned in real time according to the minimum turning radius of the vehicle, and the reversing control is carried out by combining the current running state of the vehicle; if enough running space exists on the current advancing path, the vehicle is directly controlled to run along the current advancing path when the vehicle is in an advancing state, and if the vehicle is in a retreating state, the vehicle is firstly switched into the advancing state; if the current forward path has no enough running space, the vehicle is controlled to run along the current backward path directly when the vehicle is in the backward state and has enough running space on the current backward path, and if the vehicle is in the forward state, the vehicle is firstly switched to the backward state, and the process is repeated until turning is completed. The invention can realize quick turn-around in the scene of narrow roads and obstacles.
Description
Technical Field
The invention relates to a vehicle, a vehicle turning method and a vehicle turning device, and belongs to the technical field of automatic driving vehicles.
Background
The automobile turning is a conventional running scene of an automobile, and in order to realize quick turning of the automobile and ensure the safety of the automobile in the turning process, some turning methods exist at present, for example:
the invention patent document with the publication number of CN105109480B discloses an intelligent turning method, which comprises the following steps: in the process of turning around a vehicle, acquiring current environment state information in real time, and acquiring decision actions corresponding to the current environment state information according to a turning-around strategy value table and the current environment state information, wherein the turning-around strategy value table stores a plurality of vehicle states, state quantities of each state and corresponding decision actions; controlling the vehicle to execute the decision action and continuing to acquire environmental state information and the decision action until the vehicle reaches a target state after acquiring one decision action; the intelligent turning method is obtained through autonomous learning, and is configured in a vehicle-mounted system of a vehicle to realize turning of the vehicle in a real environment. The disadvantages of this method are: the situation of the obstacle in the turning process is not considered, and the scene with the obstacle in the road cannot be processed.
Disclosed in the application publication number CN109828573a is a vehicle control method comprising: acquiring a safety time window corresponding to the turning of the vehicle, wherein the safety time window refers to the time required by the vehicle to finish the turning, judging whether an obstacle exists in a facing lane in the safety time window and can reach the position of the turning lane of the vehicle, and controlling the vehicle based on the judging result; the decision method for avoiding the straight-going traffic flow in a targeted manner is adopted in the vehicle turning scene, so that the safety and the passing efficiency of the vehicles in the turning of the intersection are improved. However, the method is only suitable for road opening turning and is not suitable for narrow road turning.
In summary, the above-mentioned turning method is not only capable of handling the scene with the obstacle in the road, but also is only suitable for turning around the intersection, and can not realize turning around in the complex scene with the obstacle and the narrow road, and the mobility of the vehicle and the applicability of the scene are not good.
Disclosure of Invention
The invention aims to provide a vehicle, a vehicle turning method and a vehicle turning device, which are used for solving the problem that the existing vehicle turning method can not realize turning under the condition of a narrow road and a complex congestion scene with obstacles.
In order to achieve the above object, the present invention provides a vehicle turn-around method, comprising the steps of:
(1) In the turning process, acquiring the current running state of the vehicle, the current position information of the vehicle, the road boundary information of the current road and the barrier information;
(2) The method comprises the steps of planning a forward direction path and a backward direction path corresponding to the current position of a vehicle in real time according to the minimum turning radius of the vehicle, and judging the current running state of the vehicle;
if the vehicle is in a forward running state, judging whether a sufficient running space exists on a forward direction path corresponding to the current position of the vehicle, and if so, controlling the vehicle to run along the forward direction path corresponding to the current position; if the vehicle does not have enough running space on the backward direction path corresponding to the current position of the vehicle, switching the vehicle into a backward running state and controlling the vehicle to run along the backward direction path corresponding to the current position;
if the vehicle is in a backward running state, judging whether a sufficient running space exists on a forward running direction path corresponding to the current position of the vehicle, if so, switching the vehicle into a forward running state and controlling the vehicle to run along the forward running direction path corresponding to the current position; if the vehicle is not in the backward direction path corresponding to the current position of the vehicle, controlling the vehicle to travel along the backward direction path corresponding to the current position when enough travel space exists on the backward direction path corresponding to the current position of the vehicle;
(3) Repeating the steps (1) to (2) until the turning of the vehicle is completed;
in the process that the vehicle runs along the forward direction path corresponding to the current position, if any one of the minimum distance between the vehicle and the obstacle corresponding to the forward direction path and the minimum distance between the vehicle and the road boundary corresponding to the forward direction path is smaller than a safety threshold value, judging that the vehicle does not have enough running space on the forward direction path; and in the process of driving the vehicle along the backward direction path corresponding to the current position, if the minimum value of the minimum distance between the vehicle and the obstacle corresponding to the backward direction path and the minimum distance between the vehicle and the road boundary corresponding to the backward direction path is larger than the safety threshold value, judging that the vehicle has enough driving space on the backward direction path.
The invention also provides a vehicle turning device, which comprises:
the positioning module is used for acquiring the current position information of the vehicle in the turning process;
the vehicle state detection module is used for acquiring the current running state of the vehicle in the turning process;
the obstacle detection module is used for acquiring obstacle information of the current road in the turning process;
the road information detection module is used for acquiring road boundary information of the current road in the turning process;
the controller is respectively connected with the positioning module, the vehicle state detection module, the obstacle detection module and the road information detection module, and is used for receiving the data of each module and realizing the vehicle turning method.
The invention also provides a vehicle, which comprises a vehicle body and a vehicle turning device, wherein the vehicle turning device comprises:
the positioning module is used for acquiring the current position information of the vehicle in the turning process;
the vehicle state detection module is used for acquiring the current running state of the vehicle in the turning process;
the obstacle detection module is used for acquiring obstacle information of the current road in the turning process;
the road information detection module is used for acquiring road boundary information of the current road in the turning process;
the controller is respectively connected with the positioning module, the vehicle state detection module, the obstacle detection module and the road information detection module, and is used for receiving the data of each module and realizing the vehicle turning method.
The beneficial effects of the invention are as follows: in the turning process of the vehicle, a forward direction path and a backward direction path corresponding to the current position of the vehicle are planned in real time according to the minimum turning radius of the vehicle aiming at the current position of the vehicle, and reversing control is carried out by combining the current running state of the vehicle. That is, the invention performs bidirectional path planning for the current position of the vehicle in the turning process, and further realizes automatic turning action of the vehicle according to the bidirectional path planning and the driving direction switching. The automatic steering device can enable the automatic steering vehicle to quickly adjust the driving direction to finish turning under the condition of a narrow road and a complex road condition with obstacles, and improves the flexibility and the passing efficiency of the vehicle.
Further, in order to determine an initial path of the turning of the vehicle, in the vehicle turning method and device, initial position information of the vehicle is acquired before the turning, an initial forward direction path and an initial backward direction path corresponding to the initial position of the vehicle are simultaneously planned according to the minimum turning radius of the vehicle, one path is randomly selected as the initial path of the turning of the vehicle, and the vehicle is controlled to run along the initial path to start the turning.
Further, in order to ensure that the vehicle can smoothly complete turning, in the vehicle, the vehicle turning method and the vehicle turning device, road width, road length direction space and obstacle information of a current road are also acquired before turning, whether turning conditions are met or not is judged by combining the road width, the road length direction space and the obstacle information of the current road, and the vehicle turning is performed when the turning conditions are met; the road length direction space is a distance which can be driven in front of or behind a vehicle in a vehicle vision range, and the condition of meeting the turning condition means that the road width is larger than a set width, the road length direction space is larger than a set length, and no static obstacle exists in a section formed by the road width and the road length direction space.
Further, in order to accurately judge whether the vehicle turns around, in the vehicle, the vehicle turning around method and the vehicle turning around device, an initial course of the vehicle is acquired before turning around, a current course of the vehicle is acquired in the turning around process, and if an included angle between the current course of the vehicle and the initial course of the vehicle meets 180 degrees+/-A, the vehicle turning around is judged to be finished, wherein A is a preset reference angle.
Drawings
FIG. 1 is a flow chart of a vehicle turn-around method in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a travelable space estimate in an embodiment of a vehicle of the present invention;
FIG. 3 is a schematic diagram illustrating a reverse direction switch in a reverse driving state in an embodiment of the vehicle according to the present invention;
FIG. 4 is a schematic diagram showing a turning-around state determination in an embodiment of the vehicle according to the present invention;
FIG. 5 is a schematic diagram of bi-directional path planning in an embodiment of the vehicle of the present invention;
FIG. 6 is a schematic representation of a driving direction speed plan in an embodiment of the vehicle of the present invention;
fig. 7 is a schematic view of a lane change operation in an embodiment of the vehicle of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Vehicle embodiment:
the vehicle of this embodiment includes vehicle body and vehicle turning device, and wherein, vehicle turning device includes:
the positioning module (such as GPS) is used for acquiring initial position information of the vehicle before turning around and acquiring current position information of the vehicle in the turning around process;
a vehicle state detection module (such as a gear sensor) for acquiring a current running state of the vehicle during a turn;
the obstacle detection module (such as a camera, a laser radar, a millimeter wave radar and the like) is used for acquiring the obstacle information of the current road before turning around and acquiring the obstacle information of the current road in the turning around process;
the road information detection module (such as a camera, a video camera and the like) is used for acquiring the road width and the road length direction space of the current road before turning around and acquiring the road boundary information of the current road in the turning around process;
the vehicle course detection module (such as a gyroscope and the like) is used for acquiring an initial course of the vehicle before turning around and acquiring a current course of the vehicle in the turning around process;
the controller (for example, a whole vehicle controller) is respectively connected with the modules, acquires initial position information of the vehicle before turning around, current position information of the vehicle during turning around, current running states of the vehicle during turning around, obstacle information of current roads before turning around and during turning around, road width and road length direction space of the current roads before turning around, road boundary information of the current roads during turning around, initial heading of the vehicle before turning around and current heading of the vehicle during turning around through the modules, and realizes the vehicle turning around method shown in fig. 1.
As another embodiment, each module in the vehicle turning device may be increased or decreased or replaced according to actual needs while ensuring that information required for the vehicle to complete the turning can be obtained.
The following describes in detail the vehicle turn-around method shown in fig. 1, which includes the following steps:
step 1, carrying out running space measurement on a current road to judge whether a turning condition is met or not, and turning the vehicle only when the turning condition is met;
as shown in fig. 2, the arrowed circles represent dynamic obstacles, and the unbended circles represent static obstacles. The specific process of the movable space measurement is as follows: firstly, measuring whether the width WR of a road meets WR > k w W(k w W is the set width, W is the vehicle width, k w Is a proportionality coefficient, k w >1，k w According to actual needs), and then measuring and calculating whether the road length direction space LR meets LR & gtk l L(k l L is the set length, L is the vehicle length, k l Is a proportionality coefficient, k l >2，k l Setting according to actual needs), and finally judging whether static barriers exist in a WR-LR interval; when WR > k w W、LR＞k l And when no static obstacle exists in the interval of L and WR, the condition that the turning condition is met, namely, enough space is available on the current road for turning, and the vehicle is turned at the moment, so that the vehicle can smoothly finish turning.
The road length direction space LR is a distance that the vehicle can travel in front of or behind the vehicle in the line of sight range, and is exemplified by a forward travel state of the vehicle, LR is a distance that the vehicle can travel in front of the vehicle in the line of sight range, generally LR is a distance that the line of sight of the vehicle can detect (for example, a distance that a sensor on an automatic driving vehicle can detect), and in a special case, LR is a distance from the vehicle to the same dead-end or the intersection when the vehicle is in front of the same dead-end or the intersection; LR is similarly available when the vehicle is in a reverse drive state, and will not be described again.
In this embodiment, before entering the turn-around mode, it is necessary to determine whether there is a static obstacle in the wr×lr interval, if there is a static obstacle, it is described that the turn-around condition is not satisfied, the turn-around mode is not entered, and if there is no static obstacle and two other conditions are satisfied, the turn-around mode is entered; after the vehicle enters the turning mode, whether static obstacles exist or not is not used as a turning condition, and the vehicle normally plans to avoid the obstacles on the dynamic and/or static obstacles in the turning process.
Step 2, determining an initial path of turning around of the vehicle, and starting turning around;
in the step, an initial forward direction path and an initial backward direction path corresponding to the initial position of the vehicle are simultaneously planned according to the minimum turning radius of the vehicle, one path is randomly selected from the initial forward direction path and the initial backward direction path to serve as an initial path for turning the vehicle, and the vehicle is controlled to run along the initial path to start turning.
Step 3, in the turning process, a forward direction path and a backward direction path corresponding to the current position of the vehicle are planned in real time according to the minimum turning radius of the vehicle, and the current running state of the vehicle is judged;
if the vehicle is in a forward running state, judging whether a sufficient running space exists on a forward direction path corresponding to the current position of the vehicle, and if so, controlling the vehicle to run along the forward direction path corresponding to the current position; if the vehicle does not have enough running space on the backward direction path corresponding to the current position of the vehicle, switching the vehicle into a backward running state and controlling the vehicle to run along the backward direction path corresponding to the current position;
if the vehicle is in a backward running state, judging whether a sufficient running space exists on a forward running direction path corresponding to the current position of the vehicle, if so, switching the vehicle into a forward running state and controlling the vehicle to run along the forward running direction path corresponding to the current position; if the vehicle is not in the backward direction path corresponding to the current position of the vehicle, controlling the vehicle to travel along the backward direction path corresponding to the current position when enough travel space exists on the backward direction path corresponding to the current position of the vehicle;
in the process of driving the vehicle along the forward direction path corresponding to the current position, if any one of the minimum distance between the vehicle and the obstacle corresponding to the forward direction path and the minimum distance between the vehicle and the road boundary corresponding to the forward direction path is smaller than a safety threshold (the safety threshold is set according to actual needs), judging that the vehicle does not have enough driving space on the forward direction path; and in the process of driving the vehicle along the backward direction path corresponding to the current position, if the minimum value of the minimum distance between the vehicle and the obstacle corresponding to the backward direction path and the minimum distance between the vehicle and the road boundary corresponding to the backward direction path is larger than the safety threshold value, judging that the vehicle has enough driving space on the backward direction path. That is, there are two reasons why there is insufficient travel space on the route, one is a road boundary, and one is an obstacle (dynamic obstacle or static obstacle), it is easy to know that the vehicle cannot continue traveling when there is insufficient travel space due to the road boundary or insufficient travel space due to the static obstacle; when there is insufficient travel space due to the dynamic obstacle, the vehicle may be parked for a while, as the dynamic obstacle may move, until the space between the dynamic obstacle and the vehicle is sufficiently large (i.e., there is sufficient travel space on the path) to continue traveling.
The following describes the travel direction switching in detail:
1. the vehicle is in a forward running state:
(1) If there is an obstacle in the current driving direction path and the minimum distance SR between the vehicle and the road boundary satisfies SR < k s L(k s L is a safety threshold, wherein ks is a proportionality coefficient, the value range of ks is 0-1), namely that no enough running space on the current running direction path is caused by a road boundary, judging the minimum value SS in the minimum distance between the vehicle and the road boundary and between the vehicle and an obstacle on the reverse path, and if SS is more than or equal to k s L, switching the traveling direction (switching direction gear); if SS < k s L indicates that no space is available on the reverse path at this time, the current driving direction is kept for parking and waiting at this time, and once SS is more than or equal to k on the reverse path s L, switching the traveling direction (switching direction gear);
(2) If the current driving direction path has an obstacle, and the minimum distance SR between the vehicle and the road boundary on the current driving direction path meets the requirement that SR is more than or equal to k s L, minimum distance between vehicle and obstacle is less than k s L, that is, there is no enough running space on the current running direction path caused by the obstacle, keeping the current running direction to stop for t time (for example, t=3s, 4s …), observing whether the obstacle leaves in t time, and if the obstacle leaves in the waiting process or after t time, keeping the current running direction to continue running; if the obstacle does not leave after the t time, judging the minimum value SS in the minimum distance between the vehicle and the road boundary and between the vehicle and the obstacle on the reverse path, if SS is more than or equal to k s L, switching the traveling direction (switching direction gear); if SS < k s L, keeping the current running direction to stop for waiting, judging whether the obstacle leaves or not in the waiting process, keeping the current running direction to continue running once the obstacle leaves, and meeting SS not less than k once the obstacle leaves all the time on the reverse path if the obstacle does not leave s L switches the traveling direction (switching direction gear); the waiting for t time without directly switching the direction is to reduce the number of reciprocal turn-ups, and the direct direction switching is likely to cause a shortage of single posture adjustment and increase the number of reciprocal turn-ups.
(3) If no obstacle exists on the current driving direction path and the minimum distance SR between the vehicle and the road boundary is more than or equal to k s L (i.e. enough running space exists on the current running direction path), keeping the current running direction to continue running;
(4) If no obstacle exists on the current driving direction path and the minimum distance SR between the vehicle and the road boundary is less than k s L (i.e. there is not enough running space on the current running direction path), the minimum value SS of the minimum distances between the vehicle and the road boundary and between the vehicle and the obstacle on the reverse path is judged: if SS < k s L keeps the current driving direction to stop and wait, oneThe SS is greater than or equal to k on the reverse path s L, switching the traveling direction (switching direction gear); if SS is greater than or equal to k s L switches the traveling direction (switching direction gear).
2. The vehicle is in a backward travel state (i.e., a reverse travel state):
in the reversing process of the vehicle, planning a forward direction path and a backward direction path corresponding to the current position of the vehicle in real time, judging whether the forward direction path corresponding to the current position of the vehicle has enough running space, if so, switching the vehicle into a forward running state and controlling the vehicle to run along the forward direction path corresponding to the current position; if the vehicle is not in the backward direction path corresponding to the current position, the vehicle is controlled to travel along the backward direction path corresponding to the current position when enough travel space exists on the backward direction path corresponding to the current position of the vehicle.
In a special case, as shown in fig. 3, when the vehicle is in a reverse process, it is judged that the vehicle runs along the forward direction path corresponding to the current position, the road boundary corresponding to the forward direction path of the vehicle cannot collide, that is, the forward direction path has enough running space for the vehicle to directly complete turning, at this time, the vehicle stops at a certain deceleration and is switched to the forward direction (the direction-switching gear) to directly complete turning.
And step 4, repeating the step 3 until the vehicle turns around.
As shown in fig. 4, if the included angle between the current heading of the vehicle and the initial heading of the vehicle satisfies 180 ° ± a, determining that the turning of the vehicle is completed, wherein a is a preset reference angle. For example a=20 degrees or 30 degrees, etc.
In this embodiment, a bidirectional path is planned for a vehicle in a turning process of the vehicle, that is, a forward direction path and a backward direction path are planned for each vehicle in the same position, and the bidirectional path is planned in detail with reference to fig. 5, as shown in fig. 5: and simultaneously planning a forward direction path and a backward direction path corresponding to the position of the vehicle according to the minimum turning radius of the vehicle, cutting off the planned path through a road boundary, and only keeping the planned path in the road.
In this embodiment, the method further includes the step of performing bidirectional collision prediction, as shown in fig. 5: in the step, for a planned path in any direction, collision prediction is carried out on a road boundary and an obstacle corresponding to the path of a vehicle in the direction along the planned path so as to obtain the distance between the vehicle and the road boundary corresponding to the path and the distance between the vehicle and the obstacle corresponding to the path, wherein unidirectional collision detection belongs to the prior art.
In this embodiment, the method further includes the step of performing travel direction speed planning, as shown in fig. 6: according to the distance between the vehicle and the road boundary and the distance between the vehicle and the obstacle, planning future running speed along the planned path direction according to the acceleration/uniform speed, deceleration and reserved safety interval, wherein the running direction speed planning belongs to the prior art.
In the turning process, the steering wheel, the speed and the gear of the vehicle are controlled according to the planned path, the planned speed and the judged gear until the turning of the vehicle is completed.
The following describes the vehicle turning method of the present embodiment in detail by taking the narrow road turning shown in fig. 7 as an example, in which 2 direction switches are required to complete the vehicle turning in fig. 7, specifically, the path 1 in the forward running state is switched to the path 2 in the backward running state, and then the path 3 in the forward running state is switched to the path 3 in the forward running state, i.e., forward-backward-forward; in particular, when the road is wide enough, the direction is not required to be switched, the forward running state is directly kept, and the U-shaped path is inverted to complete turning.
In fig. 7, an initial forward direction path (i.e., path 1) is selected as an initial path for turning around the vehicle, the vehicle is in a forward running state, a backward direction path corresponding to the position of the vehicle is planned in real time according to the minimum turning radius of the vehicle in the running process of the vehicle along path 1, whether the space in front of the vehicle head is enough to enable the vehicle to finish turning around is judged, if not, when the vehicle has insufficient running space on the current forward direction path (i.e., path 1) and sufficient running space on the current backward direction path (i.e., path 2), the vehicle is switched to a backward running state, and the vehicle is driven along path 2; in the process of driving along the path 2, a forward direction path corresponding to the position of the vehicle is planned in real time according to the minimum turning radius of the vehicle, whether the space in front of the vehicle head is enough or not is judged, if so, the vehicle is switched into a forward driving state, and the vehicle is driven along the current forward direction path (namely, the path 3) to finish turning.
In this embodiment, the initial forward direction path is selected to enter the turning mode, and as other embodiments, the initial backward direction path may also be selected to enter the turning mode, and at this time, the switching principle of the driving direction is the same as that of the initial forward direction path, and will not be described again.
Method embodiment:
the vehicle turning method in this embodiment is shown in fig. 1, and the method is described in detail in the vehicle embodiment, and will not be described here again.
Device example:
the vehicle turning device in this embodiment is the same as the vehicle turning device in the vehicle embodiment, and will not be described here again.
Claims (6)
1. A vehicle turn-around method, the method comprising the steps of:
(1) In the turning process, acquiring the current running state of the vehicle, the current position information of the vehicle, the road boundary information of the current road and the barrier information;
(2) The method comprises the steps of planning a forward direction path and a backward direction path corresponding to the current position of a vehicle in real time according to the minimum turning radius of the vehicle, and judging the current running state of the vehicle;
if the vehicle is in a forward running state, judging whether a sufficient running space exists on a forward direction path corresponding to the current position of the vehicle, and if so, controlling the vehicle to run along the forward direction path corresponding to the current position; if the vehicle does not have enough running space on the backward direction path corresponding to the current position of the vehicle, switching the vehicle into a backward running state and controlling the vehicle to run along the backward direction path corresponding to the current position;
if the vehicle is in a backward running state, judging whether a sufficient running space exists on a forward running direction path corresponding to the current position of the vehicle, if so, switching the vehicle into a forward running state and controlling the vehicle to run along the forward running direction path corresponding to the current position; if the vehicle is not in the backward direction path corresponding to the current position of the vehicle, controlling the vehicle to travel along the backward direction path corresponding to the current position when enough travel space exists on the backward direction path corresponding to the current position of the vehicle;
(3) Repeating the steps (1) to (2) until the turning of the vehicle is completed;
in the process that the vehicle runs along the forward direction path corresponding to the current position, if any one of the minimum distance between the vehicle and the obstacle corresponding to the forward direction path and the minimum distance between the vehicle and the road boundary corresponding to the forward direction path is smaller than a safety threshold value, judging that the vehicle does not have enough running space on the forward direction path; and in the process of driving the vehicle along the backward direction path corresponding to the current position, if the minimum value of the minimum distance between the vehicle and the obstacle corresponding to the backward direction path and the minimum distance between the vehicle and the road boundary corresponding to the backward direction path is larger than the safety threshold value, judging that the vehicle has enough driving space on the backward direction path.
2. The vehicle turning method according to claim 1, wherein the initial position information of the vehicle is acquired before turning, an initial forward direction path and an initial backward direction path corresponding to the initial position of the vehicle are simultaneously planned according to the minimum turning radius of the vehicle, one path is randomly selected as the initial path of the turning of the vehicle, and the vehicle is controlled to run along the initial path to start turning.
3. The vehicle turning method according to claim 2, wherein the road width, the road length direction space and the obstacle information of the current road are also obtained before turning, and whether the turning condition is satisfied is judged by combining the road width, the road length direction space and the obstacle information of the current road, and the vehicle turning is performed when the turning condition is satisfied; the road length direction space is a distance which can be driven in front of or behind a vehicle in a vehicle vision range, and the condition of meeting the turning condition means that the road width is larger than a set width, the road length direction space is larger than a set length, and no static obstacle exists in a section formed by the road width and the road length direction space.
4. The method for turning around the vehicle according to claim 1, wherein the initial heading of the vehicle is obtained before turning around, the current heading of the vehicle is obtained during turning around, and if the included angle between the current heading of the vehicle and the initial heading of the vehicle meets 180 degrees +/-a, the turning around of the vehicle is judged to be completed, wherein a is a preset reference angle.
5. A vehicle turn-around device, the device comprising:
the positioning module is used for acquiring the current position information of the vehicle in the turning process;
the vehicle state detection module is used for acquiring the current running state of the vehicle in the turning process;
the obstacle detection module is used for acquiring obstacle information of the current road in the turning process;
the road information detection module is used for acquiring road boundary information of the current road in the turning process;
the controller is respectively connected with the positioning module, the vehicle state detection module, the obstacle detection module and the road information detection module, receives data of each module and is used for realizing the vehicle turning method according to any one of claims 1-4.
6. A vehicle, including vehicle body and vehicle turn around device, characterized in that, this vehicle turn around device includes:
the positioning module is used for acquiring the current position information of the vehicle in the turning process;
the vehicle state detection module is used for acquiring the current running state of the vehicle in the turning process;
the obstacle detection module is used for acquiring obstacle information of the current road in the turning process;
the road information detection module is used for acquiring road boundary information of the current road in the turning process;
the controller is respectively connected with the positioning module, the vehicle state detection module, the obstacle detection module and the road information detection module, receives data of each module and is used for realizing the vehicle turning method according to any one of claims 1-4.
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