CN114475651A - Blind area barrier emergency avoiding method and device based on vehicle-road cooperation - Google Patents
Blind area barrier emergency avoiding method and device based on vehicle-road cooperation Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
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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
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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
- B60W2554/00—Input parameters relating to objects
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- B60W2554/402—Type
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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
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Abstract
The invention discloses a blind area barrier emergency avoiding method based on vehicle-road cooperation, which relates to the technical field of automatic driving and comprises the steps of obtaining blind area position information; judging whether a blind area exists in front of the vehicle or not based on the blind area position information, if so, carrying out the next step, and if not, ending; obtaining barrier information in the corresponding blind area, judging whether a barrier in a moving state exists or not, if so, carrying out the next step, and if not, ending; and judging whether the predicted track of the obstacle in the moving state is intersected with the motion track of the vehicle, if so, avoiding the obstacle by the vehicle, and if not, normally driving the vehicle. The automatic driving vehicle can monitor the blind area in front and the barrier in the blind area in advance, has a longer sensing range compared with the prior scheme, and increases the safety of automatic driving in the scene of the blind area coming out of the vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a blind area obstacle emergency avoidance method and device based on vehicle-road cooperation.
Background
In the driving process of the unmanned vehicle, the obstacle is mainly detected by the laser radar, but the obstacle detection of the existing unmanned vehicle can only detect the obstacle appearing in the field of view of the laser radar, and the condition in a blind area caused by the shielding of the obstacle cannot be detected. The collision accident is easy to occur when the traffic participants in the perception blind area suddenly appear in front of the driving track of the self vehicle, especially the behaviors of pedestrians and riders which do not follow the traffic rules are easy to occur, the track change is uncertain, and the collision risk is greatly increased.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides a blind area obstacle emergency avoidance method and device based on vehicle-road cooperation.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a blind area barrier emergency avoiding method based on vehicle-road cooperation comprises the following steps,
acquiring blind area position information in a map;
judging whether a blind area exists in front of the vehicle or not based on the blind area position information, if so, carrying out the next step, and if not, ending;
obtaining barrier information in the corresponding blind area, judging whether a barrier in a moving state exists or not, if so, carrying out the next step, and if not, ending;
and judging whether the predicted track of the obstacle in the moving state is intersected with the motion track of the vehicle, if so, avoiding the obstacle by the vehicle, and if not, normally driving the vehicle.
As an optimal scheme of the blind area obstacle emergency avoidance method based on vehicle-road cooperation, the method comprises the following steps: the method comprises the steps of obtaining the information of the obstacles in the corresponding blind area, judging whether the obstacles in the moving state exist or not,
acquiring information of an obstacle through a vehicle wireless communication system;
judging whether the barrier is in the blind area;
and recording the ID of the barrier in the corresponding blind area, tracking the barrier and judging whether the barrier is in a moving state.
As an optimal scheme of the blind area obstacle emergency avoidance method based on vehicle-road cooperation, the method comprises the following steps: the avoidance of which by the vehicle comprises,
acquiring position information of a stopping point;
and calculating the distance between the vehicle and the stopping point, judging whether the distance is greater than the safe stopping distance, if so, avoiding the barrier by adopting longitudinal planning, and if not, carrying out emergency braking by adopting the maximum negative acceleration within a safe range.
As an optimal scheme of the blind area obstacle emergency avoidance method based on vehicle-road cooperation, the method comprises the following steps: the position information of the acquisition stop point includes,
the intersection point of the motion track of the vehicle and the predicted track of the obstacle in the moving state is used as a stopping point.
As an optimal scheme of the blind area obstacle emergency avoidance method based on vehicle-road cooperation, the method comprises the following steps: the safe stopping distance is calculated by the formula
Wherein s is a safety stopping distance, vtAs the current speed of the vehicle, amaxAnd k is a safety factor for the maximum negative acceleration of the vehicle on the premise of ensuring the safety of the vehicle.
As an optimal scheme of the blind area obstacle emergency avoidance method based on vehicle-road cooperation, the method comprises the following steps: the obstacles include pedestrians and vehicles.
The invention also discloses a blind area barrier emergency avoiding device based on vehicle-road cooperation, which comprises,
the first acquisition module is used for acquiring blind area position information in a map;
the first judgment module is used for judging whether a blind area exists in front of the vehicle or not based on the blind area position information in the map;
the second acquisition module is used for acquiring the information of the obstacles in the corresponding blind area, recording the ID of the obstacle in the blind area, tracking the obstacle and judging whether the obstacle is in a moving state;
the second judgment module is used for judging whether the predicted track of the obstacle in the moving state is intersected with the motion track of the vehicle;
the third acquisition module is used for acquiring the position information of the stopping point and calculating the distance between the vehicle and the stopping point;
and the third judgment module is used for judging whether the distance from the vehicle to the stopping point is greater than the safety stopping distance or not, controlling the vehicle to avoid the barrier by adopting longitudinal planning when the distance from the vehicle to the stopping point is greater than the safety stopping distance, and controlling the vehicle to carry out emergency braking by adopting the maximum negative acceleration within a safety range when the distance from the vehicle to the stopping point is less than the safety stopping distance.
The invention also discloses computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the method based on the blind area obstacle emergency avoidance method based on the vehicle-road cooperation.
The invention also discloses a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements any one of the above blind area obstacle emergency avoidance methods based on vehicle-road cooperation.
The invention has the beneficial effects that:
the automatic driving vehicle can monitor the blind area in front and the barrier in the blind area in advance, the sensing range is farther compared with the prior scheme, in addition, in the aspect of decision planning, the vehicle can be slowly stopped at a farther position to ensure the body feeling, and vehicles and pedestrians in the blind area can be emergently stopped when moving suddenly under the condition of being close to the blind area, so that the safety of the automatic driving in the scene of departure from the blind area is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a blind area obstacle emergency avoidance method based on vehicle-road cooperation according to the present invention;
fig. 2 is a schematic specific flowchart of obtaining information of an obstacle in a corresponding blind area and determining whether there is an obstacle in a moving state in the blind area obstacle emergency avoidance method based on vehicle-road cooperation according to the present invention;
fig. 3 is a schematic specific flow chart of a vehicle avoiding an obstacle in the blind area obstacle emergency avoidance method based on vehicle-road cooperation according to the present invention;
fig. 4 is a schematic frame diagram of a blind area obstacle emergency avoidance device based on vehicle-road cooperation according to the present invention;
fig. 5 is a schematic view of a blind spot departure scene provided in this embodiment.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Referring to fig. 1, the embodiment provides a blind area obstacle emergency avoidance method based on vehicle-road cooperation, which includes steps S101 to S104, and the specific steps are described as follows:
step S101: and acquiring the position information of the blind area in the map.
In particular, in the automatic driving process of a vehicle, particularly on an unstructured road, obstacles such as trees and fences often appear. Due to the limitation of the height of the vehicle, the laser radar and the camera which are loaded on the vehicle body cannot detect the sheltered obstacles, so that a blind area is generated. In this embodiment, the blind area position is calibrated in the map in advance, so the vehicle can acquire the blind area position information on the map only by acquiring the map information.
Step S102: and judging whether a blind area exists in front of the vehicle or not based on the blind area position information, if so, carrying out the next step, and if not, ending.
Specifically, the vehicle can judge whether a blind area exists in front of the driving direction of the vehicle according to the acquired map information and by combining the real-time position of the vehicle in the map. If the blind area does not exist in front of the driving direction of the vehicle, the vehicle does not need to avoid the obstacle in the blind area, and the vehicle can normally drive. If it is judged that there is a blind area ahead of the vehicle traveling direction, step S103 is performed.
Wherein, whether the vehicle detects that a blind area exists in a certain range in front. In this embodiment, the detection range is within one hundred meters.
Step S103: and acquiring barrier information in the corresponding blind area, judging whether a barrier in a moving state exists, if so, carrying out the next step, and if not, ending.
Specifically, the method comprises the following steps:
step S103 a: the vehicle acquires the obstacle information through a vehicle wireless communication system, i.e., a V2X system.
Specifically, the vehicle defines an ROI on a map with the vehicle as the center and R as the radius, and then requests the V2X device within the communication range to acquire the obstacle information in the ROI. The radius R is 200m in this embodiment.
Step S103 b: and then sequentially judging whether each obstacle is in the blind area range.
It can be understood that, because the position of the blind area is calibrated on the map, whether the area formed by the obstacle overlaps with the blind area can be judged through the geometric relationship, and if so, the obstacle is in the range of the blind area. For example, a vehicle is taken as an obstacle, and whether the vehicle is in a blind area can be judged by judging whether a rectangular area formed by the vehicle is overlapped with the blind area.
Step S103 c: and respectively recording the ID of each obstacle for the obstacles in the blind area, tracking the obstacles, and judging whether each obstacle is in a moving state according to a tracking result. If the obstacle in the moving state does not exist, the obstacle in the blind area does not influence the running of the vehicle, so that the vehicle does not need to avoid the obstacle in the blind area and can normally run. If there is an obstacle in the moving state, step S104 is performed.
Specifically, the V2X system provides point cloud data obtained by an original laser radar and a camera, and after the vehicle obtains the point cloud data, the vehicle uses a sensing module and a tracking module at the vehicle end to perform ID tracking on the obstacle.
Step S104: and judging whether the predicted track of the obstacle in the moving state is intersected with the motion track of the vehicle, if so, avoiding the obstacle by the vehicle, and if not, normally driving the vehicle.
Specifically, a prediction module in the vehicle predicts a motion trajectory of an obstacle in a moving state and a possible future driving trajectory of the vehicle through data information acquired by a sensing module, and then judges whether the predicted trajectory and the motion trajectory of the vehicle intersect. If the obstacle does not intersect with the obstacle, the obstacle does not move to influence the normal running of the vehicle, and therefore the vehicle can run normally. If the predicted track is intersected with the motion track of the vehicle, the vehicle needs to avoid the obstacle, and collision is avoided. In addition, after the predicted trajectory of the obstacle and the motion trajectory of the vehicle are judged not to intersect, the tracking of the obstacle can be cancelled.
The method for avoiding the obstacle by the vehicle specifically comprises the following steps:
step S104 a: position information of the stopping point is acquired. Wherein an intersection point of a motion trajectory of the vehicle and a predicted trajectory of the obstacle in the moving state is used as a stopping point.
Step S104 b: the distance of the vehicle from the stopping point is calculated. The safe stopping distance is calculated by the formula
Wherein s is a safety stopping distance, vtAs the current speed of the vehicle, amaxThe maximum negative acceleration of the vehicle on the premise of ensuring safety is ensured, k is a safety coefficient, and the value range of k is 1-2 through actual test tests. And after the distance from the vehicle to the stopping point is calculated, judging whether the distance is greater than the safe stopping distance. If the distance between the vehicle and the stopping point is larger than safetyStopping the distance, and avoiding the obstacle by the automatic driving vehicle by adopting longitudinal planning; and if the distance from the vehicle to the stopping point is less than the safe stopping distance, the automatic driving vehicle adopts the maximum negative acceleration within the safe range to perform emergency braking.
It should be noted that the longitudinal planning is to perform speed planning by using an EM algorithm to avoid, and belongs to the prior art, and details are not described here.
In addition, such obstacles include pedestrians and vehicles, as well as other road users.
Fig. 5 is a schematic view of a blind spot departure scene provided in this embodiment. As can be seen from the figure, there is a blind zone ahead of the autonomous vehicle, and an obstacle in a moving state, that is, a blind zone vehicle, exists in the blind zone. The autonomous vehicle travels on a structured road, and is closer to the blind zone at the moment. The blind spot in the figure is located on the right side of the road, and two possible travel tracks exist for the blind spot vehicle, one is to pass through the lane where the automatic driving vehicle is located and travel along the reverse direction of the automatic driving vehicle, and the other is to turn right directly and travel along the same direction as the automatic driving vehicle.
Calculating the distance between the automatic driving vehicle and the stopping point, comparing the distance with the safety stopping distance, and if the distance between the vehicle and the stopping point is greater than the safety stopping distance, avoiding the barrier by the automatic driving vehicle by adopting longitudinal planning; if the distance between the vehicle and the stopping point is less than the safe stopping distance, the automatic driving vehicle adopts the maximum negative acceleration in the safe range to carry out emergency braking, so that the speed of the automatic driving vehicle is reduced to zero before the stopping point.
Therefore, by adopting the blind area barrier emergency avoidance method based on vehicle-road cooperation, the automatic driving vehicle can monitor the blind area in front and the barrier in the blind area in advance, the sensing range is farther compared with the existing scheme, in addition, in the aspect of decision planning, the automatic driving vehicle not only can slowly stop at a farther position to ensure body feeling, but also can emergently stop when the vehicle and the pedestrian move suddenly in the blind area under the condition of being close to the blind area, and the safety of the automatic driving in the blind area departure scene is improved.
The embodiment also provides a blind area barrier emergency avoidance device based on vehicle-road cooperation, which comprises a first obtaining module, a first judging module, a second obtaining module, a second judging module, a third obtaining module and a third judging module.
The first acquisition module is used for acquiring blind area position information in a map. The first judging module is used for judging whether a blind area exists in front of the vehicle or not based on the blind area position information in the map. The second acquisition module is used for acquiring the information of the obstacles in the corresponding blind area, recording the ID of the obstacle in the blind area, tracking the obstacle and judging whether the obstacle is in a moving state. The second judging module is used for judging whether the predicted track of the obstacle in the moving state is intersected with the motion track of the vehicle. And the third acquisition module is used for acquiring the position information of the stopping point and calculating the distance between the vehicle and the stopping point. And the third judgment module is used for judging whether the distance from the vehicle to the stopping point is greater than the safety stopping distance or not, controlling the vehicle to avoid the barrier by adopting longitudinal planning when the distance from the vehicle to the stopping point is greater than the safety stopping distance, and controlling the vehicle to carry out emergency braking by adopting the maximum negative acceleration within a safety range when the distance from the vehicle to the stopping point is less than the safety stopping distance.
The embodiment also provides a computer device, and the components of the computer device may include but are not limited to: one or more processors or processing units, a system memory, and a bus connecting the various system components (including the system memory and the processing units).
A bus represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
The computer system/server typically includes a variety of computer system readable media. Such media may be any available media that is accessible by the computer system/server and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) and/or cache memory. The computer device may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, the storage system may be used to read from and write to non-removable, nonvolatile magnetic media. A magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus by one or more data media interfaces. The memory may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility having a set (at least one) of program modules may be stored, for example, in memory, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination may comprise an implementation of a network environment. The program modules generally perform the functions and/or methodologies of the described embodiments of the invention.
The computer device may also communicate with one or more external devices such as a keyboard, pointing device, display, etc.). Such communication may be through an input/output (I/O) interface. Also, the computer device may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) through a network adapter.
The processing unit executes programs stored in the system memory to perform the functions and/or methods of the described embodiments of the present invention.
The computer program described above may be provided in a computer storage medium encoded with a computer program that, when executed by one or more computers, causes the one or more computers to perform the method flows and/or apparatus operations shown in the above-described embodiments of the invention.
With the development of time and technology, the meaning of media is more and more extensive, and the propagation path of computer programs is not limited to tangible media any more, and can also be downloaded from a network directly and the like. Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
In addition to the above embodiments, the present invention may have other embodiments; all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (9)
1. A blind area barrier emergency avoiding method based on vehicle-road cooperation is characterized by comprising the following steps: comprises the steps of (a) preparing a substrate,
acquiring blind area position information in a map;
judging whether a blind area exists in front of the vehicle or not based on the blind area position information, if so, carrying out the next step, and if not, ending;
obtaining barrier information in the corresponding blind area, judging whether a barrier in a moving state exists or not, if so, carrying out the next step, and if not, ending;
and judging whether the predicted track of the obstacle in the moving state is intersected with the motion track of the vehicle, if so, avoiding the obstacle by the vehicle, and if not, normally driving the vehicle.
2. The blind area obstacle emergency avoidance method based on vehicle-road cooperation according to claim 1, characterized in that: the method comprises the steps of obtaining the information of the obstacles in the corresponding blind area, judging whether the obstacles in the moving state exist or not,
acquiring information of an obstacle through a vehicle wireless communication system;
judging whether the barrier is in the blind area;
and recording the ID of the barrier in the corresponding blind area, tracking the barrier and judging whether the barrier is in a moving state.
3. The blind area obstacle emergency avoidance method based on vehicle-road cooperation according to claim 1, characterized in that: the avoidance of which by the vehicle comprises,
acquiring position information of a stopping point;
and calculating the distance between the vehicle and the stopping point, judging whether the distance is greater than the safe stopping distance, if so, avoiding the barrier by adopting longitudinal planning, and if not, carrying out emergency braking by adopting the maximum negative acceleration within a safe range.
4. The blind area obstacle emergency avoidance method based on vehicle-road cooperation according to claim 3, characterized in that: the position information of the acquisition stop point includes,
the intersection point of the motion trajectory of the vehicle and the predicted trajectory of the obstacle in the moving state is used as a stopping point.
5. The blind area obstacle emergency avoidance method based on vehicle-road cooperation according to claim 3, characterized in that: the safe stopping distance is calculated by the formula,
the safety stopping distance is the current speed of the vehicle, the maximum negative acceleration of the vehicle on the premise of ensuring safety is the safety factor.
6. The blind area obstacle emergency avoidance method based on vehicle-road cooperation according to any one of claims 1 to 5, characterized in that: the obstacles include pedestrians and vehicles.
7. The utility model provides a device is promptly dodged to blind area barrier based on car road is in coordination which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the first acquisition module is used for acquiring blind area position information in a map;
the first judgment module is used for judging whether a blind area exists in front of the vehicle or not based on the blind area position information in the map;
the second acquisition module is used for acquiring the information of the obstacles in the corresponding blind area, recording the ID of the obstacle in the blind area, tracking the obstacle and judging whether the obstacle is in a moving state;
the second judgment module is used for judging whether the predicted track of the obstacle in the moving state is intersected with the motion track of the vehicle;
the third acquisition module is used for acquiring the position information of the stopping point and calculating the distance between the vehicle and the stopping point;
and the third judgment module is used for judging whether the distance from the vehicle to the stopping point is greater than the safety stopping distance or not, controlling the vehicle to avoid the barrier by adopting longitudinal planning when the distance from the vehicle to the stopping point is greater than the safety stopping distance, and controlling the vehicle to carry out emergency braking by adopting the maximum negative acceleration within a safety range when the distance from the vehicle to the stopping point is less than the safety stopping distance.
8. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that: the processor, when executing the program, implements the method of any of claims 1-5.
9. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program when executed by a processor implementing the method of any one of claims 1 to 5.
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