CN114715194B

CN114715194B - Vehicle obstacle avoidance track planning method, device, equipment and storage medium

Info

Publication number: CN114715194B
Application number: CN202210476294.XA
Authority: CN
Inventors: 刘宏伟
Original assignee: China Automotive Innovation Corp
Current assignee: China Automotive Innovation Corp
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2024-07-05
Anticipated expiration: 2042-04-29
Also published as: CN114715194A

Abstract

The application discloses a vehicle obstacle avoidance trajectory planning method, device, equipment and storage medium, wherein the method comprises the following steps: acquiring the current speed of the vehicle; determining an obstacle avoidance area according to the current vehicle speed; obtaining obstacle information corresponding to an obstacle in the obstacle avoidance area; if the first type of obstacle does not exist in the obstacle avoidance area, determining the current track of the vehicle; the first type of obstacle is an obstacle positioned at the boundary of the obstacle avoidance area; if the current track has collision risk with the obstacle in the obstacle avoidance area, determining a first track according to the current track and the obstacle information; the first track is a track for avoiding obstacles when the vehicle changes lanes; determining a second trajectory from the first trajectory and the obstacle information; the second track is a track of the vehicle changing back to the current lane after avoiding the obstacle; and combining the first track and the second track to obtain the obstacle avoidance track. Therefore, difficulty and workload of obstacle avoidance track planning can be reduced, the algorithm is simple and easy to implement, and safety and instantaneity are high.

Description

Vehicle obstacle avoidance track planning method, device, equipment and storage medium

Technical Field

The present application relates to the field of automatic driving technologies, and in particular, to a vehicle obstacle avoidance trajectory planning method, apparatus, device, and storage medium.

Background

As the specific gravity of an automatic driving vehicle in the automobile market is increasing, the requirements on the safety and reliability of the automatic driving vehicle, especially the requirements on the safety and reliability of identifying and avoiding obstacles in the driving process are increasing. In the prior art, trajectory planning for avoiding obstacles generally relates to the fields of robots, control and deep learning, and relates to various deep learning algorithms and control algorithms, and an optimal obstacle avoidance trajectory is obtained by converting an objective function of the obstacle avoidance trajectory and solving an optimal function solution. However, the algorithm is relatively complex, the calculation force requirement on the vehicle controller is high, and the real-time performance of obstacle avoidance planning is difficult to ensure. Moreover, the transformation of the objective function and the solution of the optimal solution of the function usually involve many parameters, wherein some parameters are difficult to obtain, so that the debugging of the model of the objective function is time-consuming and difficult, and the workload is increased.

Disclosure of Invention

The embodiment of the application provides a vehicle obstacle avoidance track planning method, device, equipment and storage medium, which can reduce the difficulty and workload of obstacle avoidance track planning, and have the advantages of simple algorithm, easy realization and high safety and instantaneity.

In one aspect, an embodiment of the present application provides a vehicle obstacle avoidance trajectory planning method, where the method includes:

acquiring the current speed of the vehicle;

determining an obstacle avoidance area according to the current vehicle speed;

obtaining obstacle information corresponding to an obstacle in the obstacle avoidance area;

if the first type of obstacle does not exist in the obstacle avoidance area, determining the current track of the vehicle; the first type of obstacle is an obstacle positioned at the boundary of the obstacle avoidance area;

If the current track has collision risk with the obstacle in the obstacle avoidance area, determining a first track according to the current track and the obstacle information; the first track is a track for avoiding obstacles when the vehicle changes lanes;

Determining a second trajectory from the first trajectory and the obstacle information; the second track is a track of the vehicle changing back to the current lane after avoiding the obstacle;

And combining the first track and the second track to obtain the obstacle avoidance track.

Further, after obtaining the obstacle information corresponding to the obstacle in the obstacle avoidance area, the method further includes:

If the obstacle avoidance area has the first type of obstacle, updating the obstacle avoidance area to ensure that the obstacle avoidance area completely covers the first type of obstacle;

And acquiring the updated obstacle information corresponding to the obstacle in the obstacle avoidance area.

Further, if the first type of obstacle does not exist in the obstacle avoidance area, determining the current track of the vehicle includes:

if the first type of obstacle does not exist in the obstacle avoidance area, acquiring a vehicle track;

discretizing the vehicle track to obtain the current track of the vehicle.

Further, determining the first trajectory according to the current trajectory and the obstacle information includes:

Determining first quantity information and second quantity information of the obstacles in the obstacle avoidance area according to the current track and the obstacle information; the first quantity information is the total quantity of the obstacles in the obstacle avoidance area; the second quantity information is the quantity of second type barriers in the obstacle avoidance area; the second type of obstacle is an obstacle with risk of collision with the vehicle; the distance between the second type of obstacle and the current track is smaller than or equal to a preset distance;

determining an initial direction of the first track according to the first quantity information and the second quantity information;

Determining position information of an end point of the first track according to the initial direction of the first track and the obstacle information;

determining current position information of the vehicle as position information of a start point of the first track;

the first track is determined based on the initial direction of the first track, the position information of the start point of the first track, and the position information of the end point of the first track.

Further, determining the initial direction of the first track according to the first quantity information and the second quantity information includes:

If the first quantity information and the second quantity information are both preset values, determining the side opposite to the first side as the initial direction of the first track by taking the motion center line of the current track as a limit; the first side is the side where the second type of barrier is located;

Or alternatively;

If the first quantity information is larger than the preset value and the second quantity information is the preset value, determining the side with few obstacles as the initial direction of the first track by taking the motion center line of the current track as a limit;

Or alternatively;

If the first quantity information and the second quantity information are both larger than the preset value, determining the side opposite to the second side as the initial direction of the first track by taking the motion center line of the current track as a limit; the second side is the side where the second type of obstacle having the largest absolute value of the slope with the vehicle is located.

Further, the obstacle information includes position information; determining position information of an end point of the first track according to an initial direction of the first track and the obstacle information, including:

If the second type of obstacle does not exist in the initial direction of the first track, determining the position information of the second type of obstacle closest to the vehicle as the position information of the end point of the first track;

If there is a second type of obstacle in the initial direction of the first track, determining the position information of the obstacle with the smallest absolute value of the slope between the obstacle and the vehicle as the position information of the end point of the first track.

Further, determining the first track according to the initial direction of the first track, the position information of the start point of the first track and the position information of the end point of the first track includes:

Determining an initial first track according to the initial direction of the first track, the position information of the starting point of the first track, the position information of the ending point of the first track and the track limiting condition; the track limiting condition is a preset limiting condition for a curve of the obstacle avoidance track;

And if the initial first track meets the track limiting condition and no second type of obstacle exists in the obstacle avoidance area under the initial first track, determining the initial first track as the first track.

Further, after determining the initial first track according to the position information of the start point of the first track, the position information of the end point of the first track and the track limiting condition, the method further comprises:

If the initial first track does not meet the track limiting condition, or a second type of obstacle exists in the obstacle avoidance area under the initial first track, adjusting the position information of the end point of the first track according to the sequence of the transverse direction and the longitudinal direction at preset intervals;

Repeating the steps of: updating the initial first track according to the position information of the starting point of the first track, the position information of the end point of the adjusted first track and the track limiting condition;

and determining the initial first track as the first track until the initial first track meets the track limiting condition and no second type of obstacle exists in the obstacle avoidance area under the initial first track.

Further, determining a second trajectory from the first trajectory and the obstacle information includes:

determining the position information of the end point of the first track as the position information of the start point of the second track;

determining first position information of a motion center line of a current track as first position information of an end point of a second track;

Determining second position information of an obstacle farthest from the vehicle as second position information of an end point of the second trajectory; the location information includes first location information and second location information;

determining the position information of the end point of the second track according to the first position information of the end point of the second track and the second position information of the end point of the second track;

Determining an initial second track according to the position information of the starting point of the second track, the position information of the ending point of the second track and the track limiting condition;

And if the initial second track meets the track limiting condition and no second type of obstacle exists in the obstacle avoidance area under the initial second track, determining the initial second track as the second track.

Further, after determining the initial second track according to the position information of the start point of the second track, the position information of the end point of the second track and the track limiting condition, the method further comprises:

If the initial second track does not meet the track limiting condition, or a second type of obstacle exists in the obstacle avoidance area under the initial second track, adjusting second position information of an end point of the second track according to a preset interval;

repeating the steps of: determining the position information of the end point of the second track according to the first position information of the end point of the second track and the second position information of the end point of the second track after adjustment; determining an initial second track according to the position information of the starting point of the second track, the position information of the ending point of the second track and the track limiting condition;

and determining the initial second track as the second track until the initial second track meets the track limiting condition and no second type of obstacle exists in the obstacle avoidance area under the initial second track.

Further, if the first type of obstacle does not exist in the obstacle avoidance area, after determining the current track of the vehicle, the method further includes:

If the current track and the obstacle in the obstacle avoidance area have no collision risk, the vehicle runs according to the current track.

In another aspect, an embodiment of the present application provides a vehicle obstacle avoidance trajectory planning device, including:

The vehicle speed acquisition module is used for acquiring the current vehicle speed of the vehicle;

The obstacle avoidance area determining module is used for determining an obstacle avoidance area according to the current vehicle speed;

the obstacle information acquisition module is used for acquiring obstacle information corresponding to the obstacle in the obstacle avoidance area;

The current track acquisition module is used for acquiring the current track of the vehicle if the first type of obstacle does not exist in the obstacle avoidance area; the first type of obstacle is an obstacle positioned at the boundary of the obstacle avoidance area;

The first track determining module is used for determining a first track according to the current track and the obstacle information if the current track has collision risk with the obstacle in the obstacle avoidance area; the first track is a track for avoiding obstacles when the vehicle changes lanes;

The second track determining module is used for determining a second track according to the first track and the obstacle information; the second track is a track of the vehicle changing back to the current lane after avoiding the obstacle;

And the obstacle avoidance track determining module is used for combining the first track and the second track to obtain an obstacle avoidance track.

Further, the device further comprises:

The obstacle information acquisition module is used for updating the obstacle avoidance area if the first type of obstacle exists in the obstacle avoidance area, so that the obstacle avoidance area completely covers the first type of obstacle;

Further, the device further comprises:

the current track acquisition module is also used for acquiring a vehicle track if no first type of obstacle exists in the obstacle avoidance area;

discretizing the vehicle track to obtain the current track of the vehicle.

Further, the device further comprises:

The first track determining module is further used for determining first quantity information and second quantity information of the obstacles in the obstacle avoidance area according to the current track and the obstacle information; the first quantity information is the total quantity of the obstacles in the obstacle avoidance area; the second quantity information is the quantity of second type barriers in the obstacle avoidance area; the second type of obstacle is an obstacle with risk of collision with the vehicle; the distance between the second type of obstacle and the current track is smaller than or equal to a preset distance;

Further, the device further comprises:

The first track determining module is further configured to determine, if the first number of pieces of information and the second number of pieces of information are both preset values, a side opposite to the first side as an initial direction of the first track with a motion center line of the current track as a boundary; the first side is the side where the second type of barrier is located;

Or alternatively;

Further, the obstacle information includes position information; the apparatus further comprises:

the first track determining module is further used for determining the position information of the second type of obstacle closest to the vehicle as the position information of the end point of the first track if the second type of obstacle does not exist in the initial direction of the first track;

Further, the device further comprises:

the first track determining module is further used for determining an initial first track according to the initial direction of the first track, the position information of the starting point of the first track, the position information of the ending point of the first track and the track limiting condition; the track limiting condition is a preset limiting condition for a curve of the obstacle avoidance track;

Further, the device further comprises:

the first track determining module is further used for adjusting the position information of the end point of the first track according to the preset interval and the sequence of the transverse direction and the longitudinal direction firstly if the initial first track does not meet the track limiting condition or a second type of obstacle exists in the obstacle avoidance area under the initial first track;

Further, the apparatus includes:

the second track determining module is further used for determining the position information of the end point of the first track as the position information of the start point of the second track;

Further, the device further comprises:

The second track determining module is further used for adjusting second position information of an end point of the second track according to a preset interval if the initial second track does not meet the track limiting condition or a second type of obstacle exists in the obstacle avoidance area under the initial second track;

Further, the device further comprises:

and the current track running module is used for running the vehicle according to the current track if the current track has no collision risk with the obstacle in the obstacle avoidance area.

In another aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a processor and a memory, and the memory stores at least one instruction or at least one program, where the at least one instruction or the at least one program is loaded by the processor and executes a vehicle obstacle avoidance trajectory planning method as described above.

In another aspect, an embodiment of the present application provides a computer storage medium, where at least one instruction or at least one program is stored, where the at least one instruction or the at least one program is loaded and executed by a processor to implement a vehicle obstacle avoidance trajectory planning method as described above.

The vehicle obstacle avoidance trajectory planning method, device, equipment and storage medium provided by the embodiment of the application have the following technical effects:

acquiring the current speed of the vehicle; determining an obstacle avoidance area according to the current vehicle speed; obtaining obstacle information corresponding to an obstacle in the obstacle avoidance area; if the first type of obstacle does not exist in the obstacle avoidance area, determining the current track of the vehicle; the first type of obstacle is an obstacle positioned at the boundary of the obstacle avoidance area; if the current track has collision risk with the obstacle in the obstacle avoidance area, determining a first track according to the current track and the obstacle information; the first track is a track for avoiding obstacles when the vehicle changes lanes; determining a second trajectory from the first trajectory and the obstacle information; the second track is a track of the vehicle changing back to the current lane after avoiding the obstacle; and combining the first track and the second track to obtain the obstacle avoidance track. Therefore, difficulty and workload of obstacle avoidance track planning can be reduced, the algorithm is simple and easy to implement, and safety and instantaneity are high.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

FIG. 2 is a schematic flow chart of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application;

FIG. 3 is a schematic flow chart of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application;

FIG. 4 is an initial direction determination diagram of a vehicle obstacle avoidance trajectory planning method provided by an embodiment of the present application;

FIG. 5 is an initial direction determination diagram of a vehicle obstacle avoidance trajectory planning method provided by an embodiment of the present application;

FIG. 6 is an initial direction determination diagram of a vehicle obstacle avoidance trajectory planning method provided by an embodiment of the present application;

FIG. 7 is a schematic flow chart of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a vehicle obstacle avoidance trajectory planning device according to an embodiment of the present application;

Fig. 9 is a hardware structure block diagram of a server of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 is a schematic diagram of an application environment provided by an embodiment of the present application, which includes an information acquisition module 101, an obstacle avoidance track planning module 102, and a vehicle control system 103. The information acquisition module 101 acquires road information and obstacle information in front of the vehicle in real time, and sends the information to the obstacle avoidance trajectory planning module 102; the obstacle avoidance track planning module 102 receives the road information and the obstacle information sent by the information acquisition module 101, plans an obstacle avoidance track according to the information, and sends the obstacle avoidance track to the whole vehicle control system 103; the whole vehicle control system 103 receives the obstacle avoidance track sent by the obstacle avoidance track planning module 102 and runs according to the obstacle avoidance track.

Specifically, the obstacle avoidance trajectory planning module 102 obtains a current speed of the vehicle; determining an obstacle avoidance area according to the current vehicle speed, and acquiring obstacle information corresponding to an obstacle in the obstacle avoidance area; if the first type of obstacle does not exist in the obstacle avoidance area, determining the current track of the vehicle; the first type of obstacle is an obstacle positioned at the boundary of the obstacle avoidance area; if the current track has collision risk with the obstacle in the obstacle avoidance area, determining a first track according to the current track and the obstacle information; the first track is a track for avoiding obstacles when the vehicle changes lanes; determining a second trajectory from the first trajectory and the obstacle information; the second track is a track of the vehicle changing back to the current lane after avoiding the obstacle; and combining the first track and the second track to obtain the obstacle avoidance track.

In the embodiment of the present application, the information acquisition module 101 may be a sensor or a device with an object recognition function, such as a laser radar, a camera, and the like.

As an alternative implementation manner, the whole vehicle control system 101 may be a control system without an intelligent driving function, which does not have an acceleration sensor or has low accuracy of the acceleration sensor, and the vehicle obstacle avoidance track planning module 102 is arranged in the vehicle, so that the vehicle control system 101 has the capability of accurately responding to the acceleration and deceleration request, thereby being capable of adding and matching only the driving function to the whole vehicle control system 101.

In the embodiment of the application, the obstacle avoidance trajectory planning module 102 can be used as a software algorithm and is built in the whole vehicle control system 103; or may be a separate hardware module, and exchange information with the whole vehicle control system 103 through data communication.

In the following, a specific embodiment of a vehicle obstacle avoidance trajectory planning method according to the present application is described, and fig. 2 is a schematic flow chart of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application, where the method operation steps of the embodiment or the flowchart are provided, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 2, the method may include:

S201: the current vehicle speed of the vehicle is obtained.

S203: and determining an obstacle avoidance area according to the current vehicle speed.

In the embodiment of the application, the obstacle avoidance area is a rectangular area range, the length of the obstacle avoidance area is determined by the current speed, and the faster the speed is, the longer the length is; the width may be a fixed value.

As an alternative embodiment, the width of the obstacle avoidance area may be adjusted according to the width of the common road.

S205: and obtaining obstacle information corresponding to the obstacle in the obstacle avoidance area.

In the embodiment of the application, the obstacle information in the obstacle avoidance area is acquired through the laser radar or the camera and other devices in the information acquisition module 101.

As an alternative embodiment, the obstacle information includes information of a position, a speed, an outline, and the like of the obstacle.

As an alternative embodiment, the obstacle information may further include identity information corresponding to the obstacles, where each obstacle uniquely corresponds to one identity information. The identity information is used for facilitating confirmation and calling of corresponding obstacle information in the subsequent obstacle avoidance trajectory planning.

As an alternative embodiment, the identity information may be self-distributed by the obstacle avoidance trajectory planning module 102, i.e., the vehicle obstacle avoidance trajectory planning device. Alternatively, the barrier may be allocated in order from large to small or from small to large in terms of the lateral distance and the longitudinal distance of the barrier from the vehicle. Alternatively, numbers or letters may be used as the identity information, and the identity information may be sequentially allocated to the obstacle allocation. Alternatively, the identity information may be allocated to the obstacle according to any method capable of uniquely identifying the obstacle, which is not limited in the embodiment of the present application.

S207: and if the first type of obstacle does not exist in the obstacle avoidance area, determining the current track of the vehicle.

In the embodiment of the application, the first type of obstacle is an obstacle positioned at the boundary of the obstacle avoidance area.

In order to ensure the safety and reliability of obstacle avoidance, the obstacle avoidance area should include all the obstacles on the boundary of the obstacle avoidance area, so as to avoid collision between the vehicle and the obstacles on the boundary caused by the fact that the obstacles on the boundary are not considered in track planning.

As an alternative embodiment, if the first type of obstacle exists in the obstacle avoidance area, it is indicated that the obstacle avoidance area does not include the obstacle on the boundary, so that the obstacle avoidance area needs to be updated so that the obstacle avoidance area completely covers the first type of obstacle.

As an optional implementation manner, when updating the obstacle avoidance area, the rectangular shape of the obstacle avoidance area is still maintained, the length and the width of the obstacle avoidance area are expanded towards the direction of the first type of obstacle on the basis of the original rectangular shape, the obstacle avoidance area completely surrounds the first type of obstacle finally, and the distance between the first type of obstacle and the boundary of the obstacle avoidance area is greater than or equal to the preset safety distance.

As an alternative embodiment, the preset safe distance may be a preset distance value, or may be adjusted according to the current speed of the vehicle, so as to reserve an adjustment range for track planning.

As an optional implementation manner, after updating the obstacle avoidance area, the obstacle information corresponding to the obstacles in the obstacle avoidance area is re-acquired, so as to ensure that the information of each obstacle is acquired.

As an alternative embodiment, determining the current trajectory of the vehicle includes: and acquiring a vehicle track, discretizing the vehicle track, and obtaining the current track of the vehicle. The data volume of the discretized vehicle track is greatly reduced, the actual condition of the vehicle track can be reflected, and the discretized vehicle track is used as the current track of the vehicle, so that the calculated amount is reduced, and the instantaneity is improved.

S209: if the current track and the obstacle in the obstacle avoidance area have collision risk, determining a first track according to the current track and the obstacle information.

As an alternative embodiment, step S207: if the first type of obstacle does not exist in the obstacle avoidance area, after determining the current track of the vehicle, the method further comprises the following steps: if the current track and the obstacle in the obstacle avoidance area have no collision risk, the vehicle does not need to carry out obstacle avoidance track planning, and the vehicle runs according to the current track.

In the embodiment of the application, the first track is a track for avoiding obstacles when the vehicle changes lanes.

As an optional implementation manner, fig. 3 shows a flow chart of a vehicle obstacle avoidance track planning method provided by the embodiment of the present application, and as shown in fig. 3, determining a first track according to a current track and obstacle information includes:

S301: and determining first quantity information and second quantity information of the obstacles in the obstacle avoidance area according to the current track and the obstacle information.

In the embodiment of the application, the first quantity information is the total quantity of the barriers in the obstacle avoidance area; the second number information is the number of second type obstacles in the obstacle avoidance area, the second type obstacles are obstacles with collision risk with the vehicle, and the distance between the second type obstacles and the current track is smaller than or equal to the preset distance.

S303: an initial direction of the first track is determined based on the first quantity information and the second quantity information.

In the embodiment of the present application, according to the first quantity information and the second quantity information which are different, the following three cases are classified, and the different cases correspond to different initial directions.

As an alternative embodiment, if the first number information and the second number information are both preset values, the side opposite to the first side is determined as the initial direction of the first track, with the movement center line of the current track as a boundary. Wherein the first side is the side where the second type of obstacle is located. Fig. 4 shows an initial direction determining diagram of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application, taking fig. 4 as an example, where a motion center line of a current trajectory is a straight line with x=0, and a first side where a second type of obstacle is located is a right side of the motion center line, and then a left side of the motion center line is taken as an initial direction.

As an alternative embodiment, if the first number of pieces of information is greater than the preset value and the second number of pieces of information is the preset value, the side with less obstacle is determined as the initial direction of the first track by taking the movement center line of the current track as a limit. Fig. 5 shows an initial direction determining diagram of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application, taking fig. 5 as an example, where a motion center line of a current trajectory is a straight line with x=0, there are no obstacles on the left side of the motion center line, and two obstacles on the right side of the motion center line, and then the left side of the motion center line is taken as an initial direction.

As an alternative embodiment, if the first number of pieces of information and the second number of pieces of information are both greater than the preset value, a side opposite to the second side is determined as an initial direction of the first track, with respect to a movement center line of the current track as a boundary. The second side is the side where the second type of obstacle with the largest absolute value of the slope between the second side and the vehicle is located. Fig. 6 shows an initial direction determining diagram of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application, taking fig. 6 as an example, where a motion center line of a current trajectory is a straight line with x=0, and a second side where a second type of obstacle with a maximum absolute value of a slope between vehicles is located is a left side of the motion center line, then a right side of the motion center line is taken as an initial direction.

As an alternative embodiment, the preset value may be set to 1.

As an alternative embodiment, the center point of the obstacle is used as a basis for judging which side of the movement center line the obstacle is located. If the position of the center point of the obstacle is positioned at the left side of the movement center point, determining that the obstacle is positioned at the left side of the movement center line; if the position of the center point of the obstacle is positioned on the right side of the movement center point, the obstacle is determined to be positioned on the right side of the movement center line.

S305: position information of an end point of the first track is determined according to the initial direction of the first track and the obstacle information.

As an alternative embodiment, if there is no obstacle of the second type in the initial direction of the first track, the position information of the obstacle of the second type closest to the vehicle is determined as the position information of the end point of the first track.

As an alternative embodiment, if there is a second type of obstacle in the initial direction of the first track, the position information of the obstacle having the smallest absolute value of the slope with the vehicle is determined as the position information of the end point of the first track.

S307: the current position information of the vehicle is determined as the position information of the start point of the first track.

S309: the first track is determined based on the initial direction of the first track, the position information of the start point of the first track, and the position information of the end point of the first track.

In the embodiment of the application, the initial first track is determined by function fitting according to the initial direction of the first track, the position information of the starting point of the first track, the position information of the ending point of the first track and the track limiting condition. The track limiting conditions are preset limiting conditions for curves of the obstacle avoidance tracks, and the track limiting conditions are used for adjusting parameters for limiting the obstacle avoidance tracks so as to ensure that the obstacle avoidance tracks are good running tracks.

As an alternative embodiment, the track limitation condition may include limitation conditions on parameters such as curvature, curvature change rate, and acceleration of the curve of the obstacle avoidance track. By function fitting and combining with track limiting conditions, the calculated amount is reduced, a better track can be obtained rapidly through limited calculation, and the instantaneity of obstacle avoidance planning is improved.

If the initial first track meets the track limiting condition and no second type of obstacle exists in the obstacle avoidance area under the initial first track, determining the initial first track as the first track, wherein the first track meets the obstacle avoidance requirement, the obstacle avoidance safety can be ensured, and the first track is a better running track.

If the initial first track does not meet the track limiting condition or a second type of obstacle exists in the obstacle avoidance area under the initial first track, the initial first track does not meet the obstacle avoidance requirement, the obstacle avoidance safety cannot be ensured, or the initial first track is not a good driving track, and at the moment, the position information of the end point of the first track is adjusted according to the preset interval and the sequence of the first track and the second track.

Repeating the steps of: and updating the initial first track according to the position information of the starting point of the first track, the position information of the end point of the adjusted first track and the track limiting condition.

Until the initial first track meets the track limiting condition, and no second type of obstacle exists in the obstacle avoidance area under the initial first track, the initial first track is determined to be the first track, so that the first track is ensured to meet the obstacle avoidance requirement, the obstacle avoidance safety can be ensured, and the vehicle track is a better running track.

S211: the second trajectory is determined based on the first trajectory and the obstacle information.

In the embodiment of the application, the second track is the track of the vehicle which is changed back to the current lane after avoiding the obstacle.

As an optional implementation manner, fig. 7 shows a flow chart of a vehicle obstacle avoidance track planning method provided by the embodiment of the present application, and as shown in fig. 7, determining a second track according to the first track and the obstacle information includes:

s701: position information of an end point of the first track is determined as position information of a start point of the second track.

S703: the first position information of the motion center line of the current track is determined as the first position information of the end point of the second track.

In the embodiment of the application, the position information comprises first position information and second position information.

As an alternative embodiment, the position information is specified in a rectangular coordinate system, and the vehicle traveling direction, i.e., the movement center line, is set as the x-axis or the y-axis. If the motion center line is set as the x-axis, the first position information is the x-axis coordinate in the rectangular coordinate system, and the second position information is the y-axis coordinate in the rectangular coordinate system. If the motion center line is set as the y-axis, the first position information is the y-axis coordinate in the rectangular coordinate system, and the second position information is the x-axis coordinate in the rectangular coordinate system.

In the embodiment of the application, because the second track needs to be changed back to the current lane, the end point of the second track is positioned on the motion center line of the current track, and correspondingly, the first position information of the end point of the second track and the first position information of the motion center line of the current track.

S705: second position information of an obstacle farthest from the vehicle is determined as second position information of an end point of the second trajectory.

In the embodiment of the application, in order to avoid the obstacle in the second track after the lane is changed back to the current lane, the second position information of the obstacle farthest from the vehicle is determined as the second position information of the end point of the second track.

S707: and determining the position information of the end point of the second track according to the first position information of the end point of the second track and the second position information of the end point of the second track.

In the embodiment of the application, the first position information and the second position information of the end point of the second track are combined to obtain the position information of the second track.

S709: and determining an initial second track according to the position information of the starting point of the second track, the position information of the ending point of the second track and the track limiting condition.

S711: and if the initial second track meets the track limiting condition and no second type of obstacle exists in the obstacle avoidance area under the initial second track, determining the initial second track as the second track.

As an optional implementation manner, if the initial second track does not meet the track limiting condition, or if a second type of obstacle exists in the obstacle avoidance area under the initial second track, it is indicated that the initial second track does not meet the obstacle avoidance requirement, the obstacle avoidance safety cannot be ensured, or the track is not a better driving track, and at this time, the second position information of the end point of the second track is adjusted according to the preset interval.

Repeating the steps of: determining the position information of the end point of the second track according to the first position information of the end point of the second track and the second position information of the end point of the second track after adjustment; and determining an initial second track according to the position information of the starting point of the second track, the position information of the ending point of the second track and the track limiting condition.

And determining the initial second track as the second track until the initial second track meets the track limiting condition and no second type of obstacle exists in the obstacle avoidance area under the initial second track, thereby ensuring that the second track meets the obstacle avoidance requirement, ensuring the obstacle avoidance safety and being a better running track.

S213: and combining the first track and the second track to obtain the obstacle avoidance track.

In the embodiment of the application, the first track is the track of the vehicle for avoiding the obstacle when the vehicle is changed into the lane, the second track is the track of the vehicle for avoiding the obstacle and then is changed back to the current lane, and the first track and the second track are combined to obtain the complete track of the vehicle for avoiding the obstacle and returning to the current lane.

The embodiment of the application also provides a vehicle obstacle avoidance track planning device, and fig. 8 is a schematic structural diagram of the vehicle obstacle avoidance track planning device provided by the embodiment of the application, as shown in fig. 8, the device comprises:

a vehicle speed obtaining module 801, configured to obtain a current vehicle speed of a vehicle;

the obstacle avoidance area determining module 802 is configured to determine an obstacle avoidance area according to a current vehicle speed;

An obstacle information obtaining module 803, configured to obtain obstacle information corresponding to an obstacle in the obstacle avoidance area;

the current track obtaining module 804 is configured to obtain a current track of the vehicle if no first type of obstacle exists in the obstacle avoidance area; the first type of obstacle is an obstacle positioned at the boundary of the obstacle avoidance area;

the first track determining module 805 is configured to determine a first track according to the current track and the obstacle information if the current track has a collision risk with an obstacle in the obstacle avoidance area; the first track is a track for avoiding obstacles when the vehicle changes lanes;

a second trajectory determination module 806 for determining a second trajectory from the first trajectory and the obstacle information; the second track is a track of the vehicle changing back to the current lane after avoiding the obstacle;

the obstacle avoidance trajectory determination module 807 is configured to combine the first trajectory and the second trajectory to obtain an obstacle avoidance trajectory.

As an optional implementation manner, after obtaining the obstacle information corresponding to the obstacle in the obstacle avoidance area, the method further includes:

The obstacle information obtaining module 803 is configured to update the obstacle avoidance area if the obstacle avoidance area has a first type of obstacle, so that the obstacle avoidance area completely covers the first type of obstacle;

As an alternative embodiment, the device further comprises:

The current track obtaining module 804 is further configured to obtain a vehicle track if no first type of obstacle exists in the obstacle avoidance area;

discretizing the vehicle track to obtain the current track of the vehicle.

As an alternative embodiment, the device further comprises:

The first track determining module 805 is further configured to determine first number information and second number information of the obstacles in the obstacle avoidance area according to the current track and the obstacle information; the first quantity information is the total quantity of the obstacles in the obstacle avoidance area; the second quantity information is the quantity of second type barriers in the obstacle avoidance area; the second type of obstacle is an obstacle with risk of collision with the vehicle; the distance between the second type of obstacle and the current track is smaller than or equal to a preset distance;

As an alternative embodiment, the device further comprises:

The first track determining module 805 is further configured to determine, if the first number of pieces of information and the second number of pieces of information are both preset values, a side opposite to the first side as an initial direction of the first track with a motion center line of the current track as a boundary; the first side is the side where the second type of barrier is located;

Or alternatively;

As an alternative embodiment, the obstacle information includes location information; the apparatus further comprises:

The first track determining module 805 is further configured to determine, as location information of an end point of the first track, location information of a second type of obstacle closest to the vehicle if the second type of obstacle does not exist in an initial direction of the first track;

As an alternative embodiment, the device further comprises:

The first track determining module 805 is further configured to determine an initial first track according to an initial direction of the first track, position information of a start point of the first track, position information of an end point of the first track, and a track constraint condition; the track limiting condition is a preset limiting condition for a curve of the obstacle avoidance track;

As an alternative embodiment, the device further comprises:

the first track determining module 805 is further configured to adjust, according to a preset interval, position information of an end point of the first track in order of first transverse direction and then longitudinal direction if the initial first track does not meet a track limiting condition or a second type of obstacle exists in the obstacle avoidance area under the initial first track;

As an alternative embodiment, the device comprises:

The second track determining module 806 is further configured to determine location information of an end point of the first track as location information of a start point of the second track;

As an alternative embodiment, the device further comprises:

The second track determining module 806 is further configured to adjust second position information of an endpoint of the second track according to a preset interval if the initial second track does not meet the track limiting condition, or if a second type of obstacle exists in the obstacle avoidance area under the initial second track;

As an alternative embodiment, the device further comprises:

The current track running module 807 is configured to run the vehicle according to the current track if the current track has no collision risk with the obstacle in the obstacle avoidance area.

The apparatus and method embodiments in this apparatus embodiment are based on the same application concept.

The method embodiments provided by the embodiments of the present application may be performed in a mobile terminal, a computer terminal, a server, or similar computing device. Taking the operation on a server as an example, fig. 9 is a hardware structure block diagram of a server of a vehicle obstacle avoidance trajectory planning method according to an embodiment of the present application. As shown in fig. 9, the server 900 may vary considerably in configuration or performance and may include one or more central processing units (Central Processing Units, CPUs) 910 (the processor 910 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA), a memory 930 for storing data, one or more storage mediums 920 (e.g., one or more mass storage devices) for storing applications 923 or data 922. Wherein memory 930 and storage medium 920 may be transitory or persistent storage. The program stored on the storage medium 920 may include one or more modules, each of which may include a series of instruction operations on a server. Still further, the central processor 910 may be configured to communicate with a storage medium 920 and execute a series of instruction operations in the storage medium 920 on the server 900. The server 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input/output interfaces 940, and/or one or more operating systems 921, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, and the like.

The input-output interface 940 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 900. In one example, the input-output interface 940 includes a network adapter (Network Interface Controller, NIC) that may be connected to other network devices through a base station to communicate with the internet. In one example, the input/output interface 940 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.

It will be appreciated by those skilled in the art that the configuration shown in fig. 9 is merely illustrative and is not intended to limit the configuration of the electronic device. For example, server 900 may also include more or fewer components than shown in fig. 9, or have a different configuration than shown in fig. 9.

The embodiment of the application also provides a vehicle obstacle avoidance trajectory planning device, which comprises a processor and a memory, wherein at least one instruction, at least one section of program, code set or instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the vehicle obstacle avoidance trajectory planning method.

The embodiment of the application also provides a storage medium, which can be arranged in a server to store at least one instruction, at least one section of program, a code set or an instruction set related to the vehicle obstacle avoidance trajectory planning method in the embodiment of the method, wherein the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the vehicle obstacle avoidance trajectory planning method provided by the embodiment of the method.

Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The embodiments of the method, the device, the equipment and the storage medium for planning the obstacle avoidance track of the vehicle provided by the application can be used for obtaining the current speed of the vehicle; determining an obstacle avoidance area according to the current vehicle speed; obtaining obstacle information corresponding to an obstacle in the obstacle avoidance area; if the first type of obstacle does not exist in the obstacle avoidance area, determining the current track of the vehicle; the first type of obstacle is an obstacle positioned at the boundary of the obstacle avoidance area; if the current track has collision risk with the obstacle in the obstacle avoidance area, determining a first track according to the current track and the obstacle information; the first track is a track for avoiding obstacles when the vehicle changes lanes; determining a second trajectory from the first trajectory and the obstacle information; the second track is a track of the vehicle changing back to the current lane after avoiding the obstacle; and combining the first track and the second track to obtain the obstacle avoidance track. Therefore, difficulty and workload of obstacle avoidance track planning can be reduced, the algorithm is simple and easy to implement, and safety and instantaneity are high.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.

It will be appreciated by those of ordinary skill in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing is only illustrative of the present application and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., within the spirit and principles of the present application.

Claims

1. A vehicle obstacle avoidance trajectory planning method, the method comprising:

acquiring the current speed of the vehicle;

determining an obstacle avoidance area according to the current vehicle speed;

obtaining obstacle information corresponding to the obstacle in the obstacle avoidance area;

If the current track and the obstacle in the obstacle avoidance area have collision risks, determining a first track according to the current track and the obstacle information; the first track is a track for avoiding obstacles when the vehicle changes lanes;

Determining a second trajectory from the first trajectory and the obstacle information; the second track is a track which is changed back to the current lane after the vehicle avoids the obstacle;

and combining the first track and the second track to obtain an obstacle avoidance track.

2. The method for planning a vehicle obstacle avoidance trajectory according to claim 1, further comprising, after the obtaining of the obstacle information corresponding to the obstacle in the obstacle avoidance area:

If the obstacle avoidance area has the first type of obstacle, updating the obstacle avoidance area to enable the obstacle avoidance area to completely cover the first type of obstacle;

and acquiring updated obstacle information corresponding to the obstacle in the obstacle avoidance area.

3. The method for planning an obstacle avoidance trajectory of a vehicle according to claim 1, wherein if no first type of obstacle exists in the obstacle avoidance area, determining the current trajectory of the vehicle comprises:

Discretizing the vehicle track to obtain the current track of the vehicle.

4. The vehicle obstacle avoidance trajectory planning method of claim 1, wherein said determining a first trajectory from said current trajectory and said obstacle information comprises:

determining first quantity information and second quantity information of obstacles in the obstacle avoidance area according to the current track and the obstacle information; the first quantity information is the total quantity of obstacles in the obstacle avoidance area; the second quantity information is the quantity of second type barriers in the obstacle avoidance area; the second type of obstacle is an obstacle with collision risk with the vehicle; the distance between the second type of obstacle and the current track is smaller than or equal to a preset distance;

determining an initial direction of a first track according to the first quantity information and the second quantity information;

Determining the current position information of the vehicle as the position information of the starting point of the first track;

And determining the first track according to the initial direction of the first track, the position information of the starting point of the first track and the position information of the ending point of the first track.

5. The method of claim 4, wherein determining the initial direction of the first track based on the first quantity information and the second quantity information comprises:

Or alternatively;

If the first quantity information is larger than a preset value and the second quantity information is a preset value, determining the side with the few obstacles as the initial direction of the first track by taking the motion center line of the current track as a limit;

Or alternatively;

If the first quantity information and the second quantity information are both larger than a preset value, determining the side opposite to the second side as the initial direction of the first track by taking the motion center line of the current track as a limit; the second side is a side where a second type of obstacle having the largest absolute value of the slope with the vehicle is located.

6. The vehicle obstacle avoidance trajectory planning method of claim 5, wherein the obstacle information comprises location information; the determining the position information of the end point of the first track according to the initial direction of the first track and the obstacle information includes:

and if the second type of obstacle exists in the initial direction of the first track, determining the position information of the obstacle with the minimum absolute value of the slope between the second type of obstacle and the vehicle as the position information of the end point of the first track.

7. The vehicle obstacle avoidance trajectory planning method of claim 4, wherein said determining the first trajectory from the initial direction of the first trajectory, the position information of the start point of the first trajectory, and the position information of the end point of the first trajectory comprises:

Determining an initial first track according to the initial direction of the first track, the position information of the starting point of the first track, the position information of the ending point of the first track and track limiting conditions; the track limiting condition is a preset limiting condition for a curve of the obstacle avoidance track;

And if the initial first track meets the track limiting condition and the second type of obstacle does not exist in the obstacle avoidance area under the initial first track, determining the initial first track as the first track.

8. The vehicle obstacle avoidance trajectory planning method according to claim 7, wherein after determining an initial first trajectory from the position information of the start point of the first trajectory, the position information of the end point of the first trajectory, and the trajectory limiting condition, further comprising:

if the initial first track does not meet the track limiting condition, or the second type of obstacle exists in the obstacle avoidance area under the initial first track, adjusting the position information of the end point of the first track according to the preset interval and the sequence of the transverse direction and the longitudinal direction;

Repeating the steps of: updating the initial first track according to the position information of the starting point of the first track, the adjusted position information of the ending point of the first track and track limiting conditions;

And determining the initial first track as the first track until the initial first track meets the track limiting condition and the second type of obstacle does not exist in the obstacle avoidance area under the initial first track.

9. The vehicle obstacle avoidance trajectory planning method of claim 7, wherein said determining a second trajectory from said first trajectory and said obstacle information comprises:

determining first position information of a motion center line of the current track as first position information of an end point of the second track;

Determining second position information of an obstacle farthest from the vehicle as second position information of an end point of the second trajectory; the information for determining the position information of the end point of the second track includes first position information of the end point of the second track and second position information of the end point of the second track;

And if the initial second track meets the track limiting condition and the second type of obstacle does not exist in the obstacle avoidance area under the initial second track, determining the initial second track as the second track.

10. The vehicle obstacle avoidance trajectory planning method according to claim 9, wherein after determining an initial second trajectory from the position information of the start point of the second trajectory, the position information of the end point of the second trajectory, and the trajectory limiting condition, further comprising:

If the initial second track does not meet the track limiting condition, or the second type of obstacle exists in the obstacle avoidance area under the initial second track, adjusting second position information of an end point of the second track according to a preset interval;

Repeating the steps of: determining the position information of the end point of the second track according to the first position information of the end point of the second track and the adjusted second position information of the end point of the second track; determining an initial second track according to the position information of the starting point of the second track, the position information of the ending point of the second track and the track limiting condition;

and determining the initial second track as the second track until the initial second track meets the track limiting condition and the second type of obstacle does not exist in the obstacle avoidance area under the initial second track.

11. The method for planning a vehicle obstacle avoidance trajectory according to claim 1, wherein if the obstacle avoidance area does not have the first type of obstacle, determining the current trajectory of the vehicle further comprises:

And if the current track and the obstacle in the obstacle avoidance area have no collision risk, the vehicle runs according to the current track.

12. A vehicle obstacle avoidance trajectory planning device, the device comprising:

A second track determining module for determining a second track according to the first track and the obstacle information; the second track is a track which is changed back to the current lane after the vehicle avoids the obstacle;

13. An electronic device, characterized in that it comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded by the processor and which performs the vehicle obstacle avoidance trajectory planning method according to any one of claims 1 to 11.

14. A computer storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the vehicle obstacle avoidance trajectory planning method of any one of claims 1 to 11.