CN114620127A - Vehicle steering obstacle avoidance method and device, electronic equipment and storage medium - Google Patents
Vehicle steering obstacle avoidance method and device, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The invention discloses a vehicle steering obstacle avoidance method, a vehicle steering obstacle avoidance device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining obstacle information in a neighborhood corresponding to the target vehicle; determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, and generating a steering instruction based on the obstacle avoidance parameters; determining an assist torque value corresponding to the target vehicle based on the steering command; and determining a target power-assisted torque value based on the current hand torque value of the driver and the power-assisted torque value, and assisting the steering operation of the target vehicle based on the target power-assisted torque value so as to avoid the obstacle of the target vehicle. The problem of there may be the potential safety hazard by the obstacle avoidance system control vehicle turns to completely is solved, realized when the driver turns to the operation, the effect of the security that the obstacle avoidance system turned to the driver is improved to the driver steering operation by keeping away the obstacle system and assisting.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent driving, in particular to a vehicle steering obstacle avoidance method and device, electronic equipment and a storage medium.
Background
Steering and obstacle avoidance are usually performed in an active steering mode, so that the authority of an electronic control decision exceeds that of a driver, and the accuracy of the electronic control decision of the vehicle is high.
However, based on the current technical level of intelligent driving vehicles, obstacle perception, control decision logic and coverage of applicable scenes all have certain problems, and the accuracy and precision of electric control decisions are difficult to meet requirements. And the force and speed when the vehicle is actively steered based on the electric control decision further interfere the driver, so that panic and action disorder are caused, the problem of potential safety hazard possibly occurs in the driving process of the vehicle, and greater danger is caused.
In order to improve the accuracy of the vehicle in steering and obstacle avoidance, the steering and obstacle avoidance method of the vehicle needs to be improved to assist the driver in steering and obstacle avoidance.
Disclosure of Invention
The invention provides a vehicle steering obstacle avoidance method, a vehicle steering obstacle avoidance device, electronic equipment and a storage medium, and aims to achieve the effect of improving the safety of vehicle steering obstacle avoidance.
In a first aspect, an embodiment of the present invention provides a vehicle steering obstacle avoidance method, including:
determining obstacle information in a neighborhood corresponding to the target vehicle; wherein the neighborhood is an area centered on the target vehicle, and the obstacle information includes at least one of a vehicle, a pedestrian, a road edge, and an artificial barricade;
determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, and generating a steering instruction based on the obstacle avoidance parameters;
determining an assist torque value corresponding to the target vehicle based on the steering command;
and determining a target power-assisted torque value based on the current hand torque value of the driver and the power-assisted torque value, and assisting the steering operation of the target vehicle based on the target power-assisted torque value so as to avoid the obstacle of the target vehicle.
In a second aspect, an embodiment of the present invention further provides a vehicle steering obstacle avoidance apparatus, including:
the obstacle information acquisition module is used for determining obstacle information in a neighborhood corresponding to the target vehicle; wherein the neighborhood is an area centered on the target vehicle, and the obstacle information includes at least one of a vehicle, a pedestrian, a road edge, and an artificial barricade;
the steering instruction generating module is used for determining obstacle avoidance parameters of the obstacle information relative to the target vehicle and generating a steering instruction based on the obstacle avoidance parameters;
an assist torque determination module to determine an assist torque value corresponding to the target vehicle based on the steering command;
and the target power-assisted torque determination module is used for determining a target power-assisted torque value based on a current hand torque value of a driver and the power-assisted torque value, and assisting the steering operation of the target vehicle based on the target power-assisted torque value so as to enable the target vehicle to avoid obstacles.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle steering obstacle avoidance method according to any one of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform the vehicle steering obstacle avoidance method according to any one of the embodiments of the present invention.
According to the technical scheme, the obstacle information in the neighborhood corresponding to the target vehicle is determined, the environment information in the neighborhood of the target vehicle is analyzed through the radar or the camera device, and whether the obstacle information exists in the neighborhood or not is determined. If the obstacle information exists, determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, generating a steering instruction based on the obstacle avoidance parameters, determining steering information in the obstacle avoidance parameters according to the position information of the obstacle relative to the target vehicle, determining emergency obstacle avoidance parameters in the obstacle avoidance parameters according to the distance information of the obstacle relative to the target vehicle, and generating the steering instruction according to the steering information and the emergency obstacle avoidance parameters. The method comprises the steps of determining an assistance torque value corresponding to a target vehicle based on a steering instruction, determining the current assistance torque value corresponding to the target vehicle based on an assistance torque look-up table, determining a target assistance torque value based on a driver hand torque value at the current moment and the assistance torque value, assisting the steering operation of the target vehicle based on the target assistance torque value to enable the target vehicle to avoid obstacles, and determining the determination mode of the target assistance torque value under different conditions according to whether current steering information of the target vehicle is consistent with suggested steering information in the steering instruction, so that the target assistance torque value is obtained. The problem of there may have the potential safety hazard by keeping away barrier system control vehicle and turning to completely is solved, realized when the driver turns to the operation, the effect of the security that the barrier system was assisted to the driver's steering operation by keeping away the barrier system improves the vehicle and turns to and keep away the barrier is realized.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a schematic flow chart of a vehicle steering obstacle avoidance method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a vehicle steering obstacle avoidance method according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a comparison between the steering torque values of a vehicle according to the prior art and the present invention according to a third embodiment of the present invention;
fig. 4 is a schematic flow chart of a vehicle steering obstacle avoidance method according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle steering obstacle avoidance apparatus according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic flow chart of a vehicle steering obstacle avoidance method according to an embodiment of the present invention, where the present embodiment is applicable to assist a driver in performing steering operation when a vehicle performs steering obstacle avoidance operation, and the method may be implemented by a vehicle steering obstacle avoidance device, where the device may be implemented in the form of software and/or hardware, and the hardware may be an electronic device, such as a mobile terminal or a PC.
As shown in fig. 1, the method includes:
and S110, determining obstacle information in the neighborhood corresponding to the target vehicle.
The target vehicle may be understood as a vehicle currently driving, and the neighborhood corresponding to the target vehicle may be understood as a region centered on the target vehicle, for example, a region within a range of 0.5 to 10 meters from the front and rear and from the left and right of the target vehicle. The obstacle information may include at least one of a vehicle, a pedestrian, a road edge, and an artificial barricade.
Specifically, in order to ensure the safety of the target vehicle in the driving process, attention needs to be paid to the obstacle information in the neighborhood of the target vehicle at any time, so that the target vehicle can turn when the obstacle information is detected, and the target vehicle is prevented from generating safety accidents.
Optionally, the determining obstacle information in a neighborhood corresponding to the target vehicle includes: scanning environment information in the neighborhood of a target vehicle based on a radar of the target vehicle to acquire obstacle information in a preset distance; or acquiring image information in the neighborhood of the target vehicle based on the camera equipment in the target vehicle so as to determine obstacle information in the neighborhood of the target vehicle according to the image information.
The environment information can be understood as various obstacle information in the neighborhood during the running process of the target vehicle. The preset distance may be understood as an reachable distance of the radar when scanning environmental information in the neighborhood, or an reachable distance photographed by a camera apparatus mounted on the vehicle. The camera device can be understood as a vehicle-mounted camera, and can be installed at the top end of the target vehicle or around the vehicle body, and the camera device can acquire the obstacle information in the neighborhood of the target vehicle to perform camera shooting, and perform image recognition on the obtained image information, so as to determine the obstacle information in the neighborhood of the target vehicle based on the image information.
Specifically, in order to determine whether obstacle information exists in the vicinity of the target vehicle, the environment information in the vicinity of the target vehicle may be continuously scanned by a radar, and whether obstacle information exists within a preset distance of the target vehicle may be determined according to a scanning result. Furthermore, it is also possible to perform real-time or intermittent image capturing of environmental information in the vicinity of the target vehicle by an image capturing apparatus installed in the target vehicle, acquire image information in the vicinity of the target vehicle, and recognize the image information based on an image recognition technique to determine whether obstacle information exists in the image information.
S120, determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, and generating a steering instruction based on the obstacle avoidance parameters.
If the obstacle information is detected in the neighborhood of the target vehicle, prompt information needs to be sent to the target vehicle to prompt the target vehicle to turn, and obstacle avoidance is carried out on the obstacle information. The obstacle avoidance parameter may be understood as obstacle avoidance information sent to the target vehicle based on the obstacle information, and may include information such as steering information, steering parameter, and urgency of steering of the target vehicle. The steering instruction can be understood as instruction information generated based on the obstacle avoidance parameter, and is used for prompting the steering of the target vehicle.
Specifically, obstacle information in the neighborhood of the target vehicle is obtained, and obstacle avoidance parameters are obtained according to the obstacle information. Illustratively, the obstacle avoidance parameters may include steering information, steering emergency parameters and other information, when the obstacle information is located in front of the left side of the target vehicle, the emergency degree of the target vehicle that needs to be steered may be determined according to the distance between the obstacle and the target vehicle, and a corresponding steering command may be generated according to the obstacle avoidance parameters of the obstacle information relative to the target vehicle, so that the target vehicle performs steering operation according to the steering command, and accidents such as collision with the obstacle during driving are avoided.
Optionally, the determining an obstacle avoidance parameter of the obstacle information relative to the target vehicle, and generating a steering instruction based on the obstacle avoidance parameter includes: determining position information and distance information of the obstacle information relative to the target vehicle, and determining obstacle avoidance parameters corresponding to the target vehicle; determining steering information corresponding to the target vehicle based on position information in the obstacle avoidance parameters, and determining emergency obstacle avoidance parameters corresponding to the target vehicle based on distance information in the obstacle avoidance parameters and current vehicle speed information of the target vehicle; and generating a steering instruction based on the steering information and the emergency obstacle avoidance parameters.
The steering information may be understood as information that the target vehicle turns left or right, and may further include information such as a steering angle of the target vehicle. The current vehicle speed information can be understood as the current running speed information of the target vehicle, the emergency obstacle avoidance parameter can be understood as the emergency degree of the target vehicle for steering, and in general, the closer the obstacle is to the target vehicle, the larger the emergency obstacle avoidance parameter is, and the higher the emergency degree of the target vehicle for steering is.
Specifically, the position information and the distance information of the obstacle and the target vehicle can be determined according to the acquired obstacle information, the steering information of the target vehicle can be further determined according to the position information, the emergency degree of the target vehicle needing to be steered can be determined according to the distance information and the current vehicle speed information of the target vehicle, and emergency obstacle avoidance parameters are generated based on the distance information and the emergency degree of the steering. Furthermore, a steering instruction can be generated according to the steering information and the emergency obstacle avoidance parameters, the steering instruction is sent to a controller of the target vehicle, and the target vehicle is controlled to steer according to the steering instruction.
For example, if the obstacle is in front of the target vehicle, the information of turning to the right may be sent to the target vehicle, and the emergency obstacle avoidance parameter may be determined according to the current speed information of the target vehicle and the distance information between the obstacle and the target vehicle. For example, under the condition that the vehicle speed is unchanged, the closer the obstacle is to the target vehicle, the larger the emergency obstacle avoidance parameter is, that is, the higher the emergency degree that the target vehicle needs to steer is; the emergency obstacle avoidance parameter is larger as the vehicle speed of the target vehicle is larger, and then a steering instruction is generated based on the steering information and the obstacle avoidance parameter.
And S130, determining an assist torque value corresponding to the target vehicle based on the steering command.
Generally, an obstacle avoidance system is installed in a vehicle, that is, when the vehicle is steered, in addition to a force applied by a driver through a steering wheel, the obstacle avoidance system can provide assistance for the vehicle, so that the vehicle is steered more easily. The assist torque value may be understood as a value of assist force provided to the target vehicle during steering of the target vehicle.
Specifically, in order to make the steering of the target vehicle easier, when the target vehicle needs to steer, according to steering information and emergency obstacle avoidance parameter information carried in a steering instruction, a certain power-assisted torque value is provided for the target vehicle, and the power-assisted torque value is sent to a steering controller module of the target vehicle so as to control the steering of the target vehicle.
Optionally, the determining an assist torque value corresponding to the target vehicle based on the steering command includes: determining steering torque information of the target vehicle based on the steering command, and acquiring current vehicle speed information of the target vehicle; and inquiring an assistance torque value corresponding to the target vehicle from a torque inquiry table according to the steering torque information and the current vehicle speed information.
The current steering torque information of the target vehicle can be determined through the steering command, wherein the steering torque information can be understood as torque information of the target vehicle during steering and can also be understood as a torque value applied to a steering module of the target vehicle by a driver through a steering wheel. The torque lookup table may be understood as an information table for recording an assist torque value corresponding to steering information and vehicle speed information of the vehicle.
Specifically, the torque lookup table may be a general power-assisted torque value lookup table, and the torque lookup table records corresponding power-assisted torque values of the target vehicle at different vehicle speeds and different steering torque information. And determining the steering torque information of the target vehicle according to the steering command, and acquiring the current speed information of the target vehicle, so as to search a corresponding power-assisted torque value in a torque lookup table according to the steering torque information and the current speed information.
S140, determining a target power-assisted torque value based on the current hand torque value of the driver and the power-assisted torque value, and assisting the steering operation of the target vehicle based on the target power-assisted torque value so as to avoid the obstacle of the target vehicle.
The driver hand torque value may be a torque value generated by the driver to the target vehicle when performing a steering operation via the steering wheel. The target assist torque value may be understood as a torque value obtained based on the driver hand torque value and the assist torque value to control the target vehicle to steer based on the target assist torque value.
Specifically, when the target vehicle is steered during traveling, usually, the driver may apply a certain torque value through the steering wheel to control the target vehicle to steer. And acquiring a hand torque value of a driver at the current moment of the target vehicle, namely a torque value applied by the driver through a steering wheel at the current moment and an assistance torque value provided by the obstacle avoidance system to the target vehicle at the current moment. And then, a target power-assisted torque value can be determined according to the current hand torque value of the driver and the power-assisted torque value, and the steering of the target vehicle is controlled based on the target power-assisted torque value, so that the target vehicle can avoid obstacles according to the target power-assisted value.
According to the technical scheme, the obstacle information in the neighborhood corresponding to the target vehicle is determined, the environment information in the neighborhood of the target vehicle is analyzed through the radar or the camera device, and whether the obstacle information exists in the neighborhood or not is determined. If the obstacle information exists, determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, generating a steering instruction based on the obstacle avoidance parameters, determining steering information in the obstacle avoidance parameters according to the position information of the obstacle relative to the target vehicle, determining emergency obstacle avoidance parameters in the obstacle avoidance parameters according to the distance information of the obstacle relative to the target vehicle, and generating the steering instruction according to the steering information and the emergency obstacle avoidance parameters. The method comprises the steps of determining an assistance torque value corresponding to a target vehicle based on a steering instruction, determining the current assistance torque value corresponding to the target vehicle based on an assistance torque look-up table, determining a target assistance torque value based on a driver hand torque value at the current moment and the assistance torque value, assisting the steering operation of the target vehicle based on the target assistance torque value so as to enable the target vehicle to avoid obstacles, and determining the target assistance torque value in a determination mode under different conditions according to whether current steering information of the target vehicle is consistent with suggested steering information in the steering instruction. The problem of there may have the potential safety hazard by keeping away barrier system control vehicle and turning to completely is solved, realized when the driver turns to the operation, the effect of the security that the barrier system was assisted to the driver's steering operation by keeping away the barrier system improves the vehicle and turns to and keep away the barrier is realized.
Example two
As an optional embodiment of the foregoing embodiment, fig. 2 is a flowchart of a vehicle steering obstacle avoidance method according to a second embodiment of the present invention, and optionally, a target assist torque value is determined based on the current driver hand torque value and the assist torque value, and a steering operation of the target vehicle is assisted based on the target assist torque value, so that the target vehicle performs obstacle avoidance refinement.
As shown in fig. 2, the method includes:
s210, determining obstacle information in the neighborhood corresponding to the target vehicle.
S220, determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, and generating a steering instruction based on the obstacle avoidance parameters.
And S230, determining an assist torque value corresponding to the target vehicle based on the steering command.
S240, determining the current steering information of the target vehicle, and determining whether the steering information is consistent with the suggested steering information in the steering command, if so, executing S250, otherwise, executing S260.
The current steering information can be understood as the steering direction information corresponding to the current moment of the target vehicle. The suggested turn information may be understood as turn information carried in the turn instruction.
Specifically, when the obstacle avoidance system provides an assist torque value to the vehicle, the assist torque values corresponding to the left and right turns are the same, that is, the obstacle avoidance system does not provide any vehicle steering suggestion information. Therefore, when the vehicle needs to be steered to avoid obstacles, the vehicle is controlled to steer by completely depending on the judgment of a driver and the hand force. According to the technical scheme, on the basis of steering of the driver, the obstacle avoidance system can assist the driver to steer the target vehicle, so that the driver can steer more easily, and meanwhile, the steering intention of the driver is respected. In practical application, the determination mode of the target power-assisted torque value is determined according to whether the current steering information of the target vehicle is consistent with the suggested steering information carried in the steering command. If yes, go to step S250, and if not, go to step S260.
And S250, obtaining a first target power-assisted torque value according to the product of the emergency obstacle avoidance parameter and the first influence coefficient.
The first influence coefficient may be understood as an influence coefficient corresponding to the emergency obstacle avoidance parameter when the recommended steering information is consistent with the steering direction of the driver, and the first target assist torque value may be understood as a target assist torque value corresponding to the first influence coefficient. The target assist torque value includes a first target assist torque value and a second target assist torque value.
Specifically, if the steering information in the current-time steering command is consistent with the steering direction of the driver, a first influence coefficient corresponding to the steering information in the obstacle avoidance parameters is determined, and then a first target power-assisted torque value is obtained based on the product of the first influence coefficient and the emergency obstacle avoidance parameters. Usually, the value of the first influence coefficient is larger than 1, that is, when the steering information is consistent with the steering direction of the driver, the obstacle avoidance system will provide a larger value of the assist torque to assist the driver to steer more easily.
For example, if the obstacle is on the right of the target vehicle, when the recommended steering information in the steering command is a left turn and the current steering operation of the driver is a left turn, the emergency obstacle avoidance parameter is multiplied by the first influence coefficient to obtain a first target power-assisted torque value, and at this time, the driver needs less force to control the operation of the target vehicle to the left turn.
And S260, obtaining a second target power-assisted torque value according to the product of the emergency obstacle avoidance parameter and a second influence coefficient.
The second influence coefficient may be understood as an influence coefficient corresponding to the emergency obstacle avoidance parameter when the recommended steering information is opposite to the steering direction of the driver, and the second target assist torque value may be understood as a target assist torque value corresponding to the second influence coefficient.
Specifically, if the steering information in the current-time steering command is opposite to the steering direction of the driver, a second influence coefficient corresponding to the steering information in the obstacle avoidance parameters is determined, and then a second target power-assisted torque value is obtained based on the product of the second influence coefficient and the emergency obstacle avoidance parameters. Usually, the value of the second influence coefficient is smaller than 1, that is, when the steering information is opposite to the steering direction of the driver, the obstacle avoidance system will provide a smaller value of the assist torque, so that the driver needs to apply a larger torque value through the steering wheel when steering, and then the steering operation in the opposite direction can be realized.
For example, if the obstacle is on the right of the target vehicle, when the recommended steering information in the steering command is to turn left, but the current steering operation of the driver is to turn right, the emergency obstacle avoidance parameter is multiplied by the second influence coefficient to obtain a second target assist torque value, and at this time, the driver needs a large force to control the operation of the target vehicle to turn right.
The advantage that sets up like this lies in, in driver's the operation process that turns to, both can honor driver's the intention of turning to, can also make the driver need provide great moment value and realize turning to the operation when driver turns to the direction opposite with suggestion turn to information to remind the driver to carry out correct turning to, realized keeping away the effect that the obstacle system assisted driver to turn to the intention and turn to and keep away the obstacle.
And S270, assisting the steering operation of the target vehicle based on the target assisting torque value so as to enable the target vehicle to avoid obstacles.
In practical applications, the assisting the steering operation of the target vehicle based on the target assist torque value to avoid an obstacle of the target vehicle includes: and sending the target power-assisted torque value to a steering controller of the target vehicle so as to assist the steering operation of the target vehicle based on the steering controller, so that the target vehicle can avoid the obstacle information. The target power-assisted torque value comprises a first target power-assisted torque value and a second target power-assisted torque value.
Here, the steering controller may be understood as a controller for controlling the target vehicle to steer.
Specifically, after the target assist torque value is obtained, the target assist torque value needs to be sent to the steering controller, so that the steering of the target vehicle is controlled based on the steering controller, and the target vehicle can avoid the obstacle information.
It should be noted that, when it is detected that the target vehicle does not have the steering information at the present time, the steering controller does not assist the steering operation of the target vehicle.
In practical application, the technical scheme is to assist the steering of the driver based on the current steering operation of the driver, and the steering of the target vehicle is not directly controlled instead of the driver. When the obstacle is located on the left or right of the target vehicle, if the driver does not have steering operation currently, the obstacle avoidance system does not send steering information to the steering controller and does not assist the steering operation of the target vehicle.
According to the technical scheme of the embodiment, the current steering information of the target vehicle is determined, whether the steering information is consistent with the recommended steering information in the steering command or not is determined, if so, a first target power-assisted torque value is obtained according to the product of the emergency obstacle avoidance parameter and a first influence coefficient, that is, when the recommended steering information is the same as the current steering information, the obstacle avoidance system can provide a larger power-assisted torque value for the target vehicle, so that a driver can realize steering operation based on smaller force in the steering process. And obtaining a second target power-assisted torque value according to the product of the emergency obstacle avoidance parameter and a second influence coefficient, and if the recommended steering information is opposite to the current steering information, providing a smaller force for the target vehicle by the obstacle avoidance system so that a driver can realize steering operation only by applying a larger torque value to the target vehicle. The effect that the steering decision right of the vehicle is handed to the driver and the driver is assisted to steer the vehicle based on the obstacle avoidance system is achieved.
EXAMPLE III
In practical application, an obstacle avoidance system usually adopts an active steering mode to carry out, so that the authority of an electric control decision exceeds that of a driver, a high requirement is provided for the accuracy of the electric control decision, and based on the current technical level, certain problems exist in obstacle perception, control decision logic and coverage of an applicable scene, so that the accuracy and the precision of the electric control decision are difficult to meet the requirement. Also, the force and speed of active steering will further disturb the driver, causing panic and movement disorders, causing greater danger. There are multiple sets of power-assisted steering parameters in the obstacle avoidance system, which can provide different power-assisted feelings for the driver, such as a comfortable mode with light steering, a motion mode with clear road feel, etc., but basically all are speed-related parameters, that is, the magnitude of the power-assisted parameters is mainly related to the speed and the power-assisted mode, and left-right symmetry is required, that is, when the driver turns the steering wheel to the left and turns the steering wheel to the right, the feelings should be basically consistent, and the power-assisted torque change also has a mode of changing the steering transmission ratio, which is usually related to the vehicle speed, and left-right symmetry, as shown in fig. 3, wherein a dotted line in the figure represents the original power-assisted curve when the obstacle avoidance system in the prior art provides the power-assisted torque value, and a solid line in the figure represents the power-assisted curve when the vehicle turns to the left suggested based on the technical solution. Taking left turn as an example, the steering obstacle avoidance method of the technical scheme is to perform obstacle avoidance assistance on the basis of respecting the operation intention of a driver, and different assistance torque values are adopted when providing an assistance torque value for a target vehicle, that is, when the driver steers in a correct direction, a larger assistance torque value is provided for the target vehicle, and when the driver steers in an incorrect manner, a smaller assistance torque value is provided for the target vehicle. When obstacle information exists in the neighborhood of the target vehicle or when the intelligent driving system judges that steering is needed, the power-assisted parameter of the steering system or the transmission ratio of the steering system are adjusted, so that the hand force required by the driver for steering to the correct direction is smaller, the steering is easier, the hand force required by steering to the wrong direction is larger, and the steering is more difficult. That is, the driver must have a strong will and overcome a certain difficulty to realize the operation of steering in a dangerous direction.
Specifically, the technical scheme can comprise an intelligent driving system and an obstacle avoidance system. As shown in fig. 4, an obstacle sensing module (i.e., a radar or a camera device) is included in the smart driving system, and obstacle information of a road ahead can be acquired. The intelligent driving system further comprises a steering obstacle avoidance decision module, can make steering instructions for left-turn obstacle avoidance or right-turn obstacle avoidance based on obstacle information of a road ahead, and can further provide estimation parameters (namely emergency obstacle avoidance parameters) of obstacle avoidance emergency degree. The obstacle avoidance system comprises a steering power-assisted module, a speed-following power-assisted torque calculation module, a collision avoidance power-assisted module, a variable transmission ratio control module and the like. The obstacle avoidance system can comprise an intelligent driving system or two independent systems, and information interaction is carried out through a bus.
In particular, the obstacle sensing module (i.e., radar or camera device) may monitor obstacle information ahead of the road in real time, including but not limited to vehicles, pedestrians, road edges, artificial roadblocks, etc. Then, according to the front obstacle information provided by the obstacle sensing module, the steering obstacle avoidance decision module gives an instruction (i.e. a steering instruction) for advising the left-turn or right-turn obstacle avoidance, and an evaluation value (i.e. an emergency obstacle avoidance parameter) of the steering obstacle avoidance urgency system k. For example, the information provided by the obstacle sensing module displays that the road ahead turns sharply to the left, and the steering and obstacle avoiding decision module gives a suggestion instruction s for steering to the left; for example, it is recommended that the left turn be s equal to 0 and the right turn be s equal to 1. The degree of urgency for obstacle avoidance increases as the distance L between the vehicle and the turning position decreases and the vehicle speed increases, that is, k is f (L, v). The function may be a two-dimensional table that can be calibrated or may be determined according to the current speed information of the target vehicle and the distance information between the obstacle and the target vehicle: for example, when the current vehicle speed v is 50km/h, the distance L between the vehicle and the turning position is 5m, and the steering emergency degree is 10. Then, the universal steering speed-following power-assisted module searches a power-assisted torque table according to the current vehicle speed and the torque of a steering hand of a driver, such as the current vehicle speed information and the steering information of a target vehicle. And respectively calculating a final EPS (electric power steering) power-assisted steering torque output value (namely, a target power-assisted torque value) according to the power-assisted torque value T and a left-turn or right-turn suggestion instruction of a steering and obstacle-avoiding emergency degree system k. The left-turn power-assisted torque calculation function is as follows: t1 ═ f1(T, s, k); the right-turn power-assisted torque calculation function is as follows: t2 ═ f2(T, s, k). The function may be a table or a formula.
Exemplarily, when s ═ 0: t1 ═ T × k/5; t2 ═ T × k/20; when s is 1: t1 ═ T × k/20; t2 ═ T × k/5; combining the above examples, k is 10, s is 0, and then T1 is 2T after calculation according to the above formula; t2 ═ 0.5T. That is, when the vehicle speed is 50km/h and there is an obstacle in front, and the decision suggests turning left 5 meters ahead, the EPS increases the assist torque to the left by 2 times and decreases the assist torque to the right by 1/2. At the moment, when the driver steers to the left, the steering power-assisted torque is output according to T1, and the steering becomes easy and sensitive; when the driver turns to the right, the steering assisting torque is output according to T2, and more hand force is required to be applied to finish the steering; when the driver does not have steering operation, the obstacle avoidance system can not actively output the steering power-assisted torque.
According to the technical scheme, obstacle information in the neighborhood corresponding to the target vehicle is determined, and the environment information in the neighborhood of the target vehicle is analyzed through the laser radar or the camera device to determine whether the obstacle information exists in the neighborhood. If the obstacle information exists, determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, generating a steering instruction based on the obstacle avoidance parameters, determining steering information in the obstacle avoidance parameters according to the position information of the obstacle relative to the target vehicle, determining emergency obstacle avoidance parameters and in the obstacle avoidance parameters according to the distance information of the obstacle relative to the target vehicle, and generating the steering instruction according to the steering information and the emergency obstacle avoidance parameters. The method comprises the steps of determining an assistance torque value corresponding to a target vehicle based on a steering command, determining an assistance torque value corresponding to the target vehicle at present based on an assistance torque look-up table, determining a target assistance torque value based on a driver hand torque value at the present moment and the assistance torque value, assisting the steering operation of the target vehicle based on the target assistance torque value so as to enable the target vehicle to avoid obstacles, and determining the target assistance torque value under different conditions according to whether current steering information of the target vehicle is consistent with suggested steering information in the steering command. The problem of there may have the potential safety hazard by keeping away barrier system control vehicle and turning to completely is solved, realized when the driver turns to the operation, the effect of the security that the barrier system was assisted to the driver's steering operation by keeping away the barrier system improves the vehicle and turns to and keep away the barrier is realized.
Example four
Fig. 5 is a vehicle steering obstacle avoidance device according to a fourth embodiment of the present invention, where the device includes: an obstacle information acquisition module 310, a steering command generation module 320, an assist torque determination module 330, and a target assist torque determination module 340.
The obstacle information acquiring module 310 is configured to determine obstacle information in a neighborhood corresponding to the target vehicle; wherein the neighborhood is an area centered on the target vehicle, and the obstacle information includes at least one of a vehicle, a pedestrian, a road edge, and an artificial barricade;
the steering instruction generating module 320 is configured to determine an obstacle avoidance parameter of the obstacle information relative to the target vehicle, and generate a steering instruction based on the obstacle avoidance parameter;
an assist torque determination module 330 configured to determine an assist torque value corresponding to the target vehicle based on the steering command;
the target assist torque determination module 340 is configured to determine a target assist torque value based on a current hand torque value of a driver and the assist torque value, and assist steering operation of the target vehicle based on the target assist torque value, so as to avoid an obstacle of the target vehicle.
According to the technical scheme, obstacle information in the neighborhood corresponding to the target vehicle is determined, and the environment information in the neighborhood of the target vehicle is analyzed through the laser radar or the camera device to determine whether the obstacle information exists in the neighborhood. If the obstacle information exists, determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, generating a steering instruction based on the obstacle avoidance parameters, determining steering information in the obstacle avoidance parameters according to the position information of the obstacle relative to the target vehicle, determining emergency obstacle avoidance parameters in the obstacle avoidance parameters according to the distance information of the obstacle relative to the target vehicle, and generating the steering instruction according to the steering information and the emergency obstacle avoidance parameters. The method comprises the steps of determining an assistance torque value corresponding to a target vehicle based on a steering command, determining an assistance torque value corresponding to the target vehicle at present based on an assistance torque look-up table, determining a target assistance torque value based on a driver hand torque value at the present moment and the assistance torque value, assisting the steering operation of the target vehicle based on the target assistance torque value so as to enable the target vehicle to avoid obstacles, and determining the target assistance torque value under different conditions according to whether current steering information of the target vehicle is consistent with suggested steering information in the steering command. The problem of there may have the potential safety hazard by keeping away barrier system control vehicle and turning to completely is solved, realized when the driver turns to the operation, the effect of the security that the barrier system was assisted to the driver's steering operation by keeping away the barrier system improves the vehicle and turns to and keep away the barrier is realized.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the obstacle information acquiring module includes:
the environment scanning submodule is used for scanning environment information in the neighborhood of a target vehicle based on a laser radar of the target vehicle to acquire barrier information in a preset distance; or the like, or, alternatively,
the image shooting submodule is used for acquiring image information in the neighborhood of the target vehicle based on the shooting equipment in the target vehicle so as to determine the obstacle information in the neighborhood of the target vehicle according to the image information.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the steering instruction generating module includes:
the obstacle avoidance parameter determining submodule is used for determining position information and distance information of the obstacle information relative to the target vehicle and determining obstacle avoidance parameters corresponding to the target vehicle;
the emergency obstacle avoidance parameter determining submodule is used for determining steering information corresponding to the target vehicle based on position information in the obstacle avoidance parameters, and determining emergency obstacle avoidance parameters corresponding to the target vehicle based on distance information in the obstacle avoidance parameters and current vehicle speed information of the target vehicle;
and the steering instruction determining submodule is used for generating a steering instruction based on the steering information and the emergency obstacle avoidance parameters.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the assist torque determination module includes:
the vehicle speed information acquisition submodule is used for determining the steering torque information of the target vehicle based on the steering instruction and acquiring the current vehicle speed information of the target vehicle;
and the power-assisted torque value query submodule is used for querying a power-assisted torque value corresponding to the target vehicle from a torque query table according to the steering torque information and the current vehicle speed information.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the target assist torque determination module includes:
the steering information determining submodule is used for determining the current steering information of the target vehicle and determining whether the steering information is consistent with the suggested steering information in the steering instruction;
the first result determining submodule is used for obtaining a first target power-assisted torque value according to the product of the emergency obstacle avoidance parameter and a first influence coefficient if the first result determining submodule is yes;
the second result determining submodule is used for obtaining a second target power-assisted torque value according to the product of the emergency obstacle avoidance parameter and a second influence coefficient if the emergency obstacle avoidance parameter is not the second influence coefficient;
and the target power-assisted torque value determining submodule is used for assisting the steering operation of the target vehicle based on the target power-assisted torque value so as to enable the target vehicle to avoid obstacles.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the target assist torque value determination submodule further includes:
and the target power-assisted torque value sending unit is used for sending the target power-assisted torque value to a steering controller of the target vehicle so as to assist the steering operation of the target vehicle based on the steering controller, so that the target vehicle avoids the obstacle information.
On the basis of any optional technical solution in the embodiment of the present invention, optionally, the vehicle steering obstacle avoidance device is further configured to:
when it is detected that the steering information does not exist at the current moment of the target vehicle, the steering controller does not assist the steering operation of the target vehicle.
The vehicle steering obstacle avoidance device provided by the embodiment of the invention can execute the vehicle steering obstacle avoidance method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It should be noted that, the units and modules included in the apparatus are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiment of the invention.
EXAMPLE five
Fig. 6 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. FIG. 6 illustrates a block diagram of an exemplary electronic device 40 suitable for use in implementing embodiments of the present invention. The electronic device 40 shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, electronic device 40 is embodied in the form of a general purpose computing device. The components of electronic device 40 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, and a bus 403 that couples the various system components (including the system memory 402 and the processing unit 401).
The system memory 402 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)404 and/or cache memory 405. The electronic device 40 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 406 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, commonly referred to as a "hard drive"). Although not shown in FIG. 6, 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 403 by one or more data media interfaces. Memory 402 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 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402, such program modules 407 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 thereof may comprise an implementation of a network environment. Program modules 407 generally perform the functions and/or methods of the described embodiments of the invention.
The electronic device 40 may also communicate with one or more external devices 409 (e.g., keyboard, pointing device, display 410, etc.), with one or more devices that enable a user to interact with the electronic device 40, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 40 to communicate with one or more other computing devices. Such communication may be through input/output (I/O) interfaces 411. Also, the electronic device 40 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 412. As shown, the network adapter 412 communicates with the other modules of the electronic device 40 over the bus 403. It should be appreciated that although not shown in FIG. 6, other hardware and/or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 401 executes various functional applications and data processing by running a program stored in the system memory 402, for example, to implement the vehicle steering obstacle avoidance method provided by the embodiment of the present invention.
EXAMPLE six
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, is configured to perform a vehicle steering obstacle avoidance method, where the method includes: determining obstacle information within a neighborhood corresponding to a target vehicle; wherein the neighborhood is an area centered on the target vehicle, and the obstacle information includes at least one of a vehicle, a pedestrian, a road edge, and an artificial barricade; determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, and generating a steering instruction based on the obstacle avoidance parameters; determining an assist torque value corresponding to the target vehicle based on the steering command; and determining a target power-assisted torque value based on the current hand torque value of the driver and the power-assisted torque value, and assisting the steering operation of the target vehicle based on the target power-assisted torque value so as to enable the target vehicle to avoid obstacles.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. 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 many 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 embodiments 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 latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (CAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle steering obstacle avoidance method is characterized by comprising the following steps:
determining obstacle information in a neighborhood corresponding to the target vehicle; wherein the neighborhood is an area centered on the target vehicle, and the obstacle information includes at least one of a vehicle, a pedestrian, a road edge, and an artificial barricade;
determining obstacle avoidance parameters of the obstacle information relative to the target vehicle, and generating a steering instruction based on the obstacle avoidance parameters;
determining an assist torque value corresponding to the target vehicle based on the steering command;
and determining a target power-assisted torque value based on the current hand torque value of the driver and the power-assisted torque value, and assisting the steering operation of the target vehicle based on the target power-assisted torque value so as to avoid the obstacle of the target vehicle.
2. The method of claim 1, wherein the determining obstacle information within a neighborhood corresponding to a target vehicle comprises:
scanning environment information in the neighborhood of a target vehicle based on a radar of the target vehicle to acquire obstacle information in a preset distance; or the like, or, alternatively,
acquiring image information in the neighborhood of the target vehicle based on the camera equipment in the target vehicle so as to determine obstacle information in the neighborhood of the target vehicle according to the image information.
3. The method of claim 1, wherein the determining obstacle avoidance parameters of the obstacle information relative to the target vehicle and generating steering instructions based on the obstacle avoidance parameters comprises:
determining position information and distance information of the obstacle information relative to the target vehicle, and determining obstacle avoidance parameters corresponding to the target vehicle;
determining steering information corresponding to the target vehicle based on position information in the obstacle avoidance parameters, and determining emergency obstacle avoidance parameters corresponding to the target vehicle based on distance information in the obstacle avoidance parameters and current vehicle speed information of the target vehicle;
and generating a steering instruction based on the steering information and the emergency obstacle avoidance parameters.
4. The method of claim 1, wherein the determining an assist torque value corresponding to the target vehicle based on the steering command comprises:
determining steering torque information of the target vehicle based on the steering command, and acquiring current vehicle speed information of the target vehicle;
and inquiring an assistance torque value corresponding to the target vehicle from a torque inquiry table according to the steering torque information and the current vehicle speed information.
5. The method of claim 1, wherein the target assist torque value comprises a first target assist torque value and a second target assist torque value, and wherein determining the target assist torque value based on the current driver hand torque value and the assist torque value comprises:
determining current steering information of the target vehicle, and determining whether the steering information is consistent with suggested steering information in the steering command;
if so, obtaining a first target power-assisted torque value according to the product of the emergency obstacle avoidance parameter and a first influence coefficient;
and if not, obtaining a second target power-assisted torque value according to the product of the emergency obstacle avoidance parameter and a second influence coefficient.
6. The method of claim 5, wherein assisting steering operation of the target vehicle to avoid an obstacle of the target vehicle based on the target assist torque value comprises:
and sending the first target power-assisted torque value or the second target power-assisted torque value to a steering controller of the target vehicle so as to assist the steering operation of the target vehicle based on the steering controller, so that the target vehicle avoids the obstacle information.
7. The method of claim 6, further comprising:
when it is detected that the steering information does not exist at the current moment of the target vehicle, the steering controller does not assist the steering operation of the target vehicle.
8. The utility model provides a barrier device is kept away in vehicle turns to which characterized in that includes:
the obstacle information acquisition module is used for determining obstacle information in a neighborhood corresponding to the target vehicle; wherein the neighborhood is an area centered on the target vehicle, and the obstacle information includes at least one of a vehicle, a pedestrian, a road edge, and an artificial barricade;
the steering instruction generating module is used for determining obstacle avoidance parameters of the obstacle information relative to the target vehicle and generating a steering instruction based on the obstacle avoidance parameters;
an assist torque determination module to determine an assist torque value corresponding to the target vehicle based on the steering command;
and the target power-assisted torque determination module is used for determining a target power-assisted torque value based on a current hand torque value of a driver and the power-assisted torque value, and assisting the steering operation of the target vehicle based on the target power-assisted torque value so as to enable the target vehicle to avoid obstacles.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle steering avoidance method of any of claims 1-7.
10. A storage medium containing computer executable instructions for performing the vehicle steering avoidance method of any one of claims 1-7 when executed by a computer processor.
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Application publication date: 20220614 |