CN114735024A - Vehicle control method, device, equipment and storage medium - Google Patents

Abstract

The present disclosure provides a vehicle control method, apparatus, device and storage medium, which relate to the technical field of artificial intelligence, and in particular to the technical field of automatic driving, autonomous parking and intelligent transportation, and are applicable to cruise memory parking and low-speed assistant driving scenes. The specific implementation scheme is as follows: selecting a target reference point from preset reference points on a vehicle according to the driving direction of the vehicle, and determining a distance calculation parameter associated with the driving direction of the vehicle; determining a separation distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter and the position information of the target obstacle; and controlling the vehicle to run according to the spacing distance between the target obstacle and the vehicle. The accuracy of distance calculation between the target obstacle and the vehicle can be improved, and the safety and the reliability of vehicle control are further improved.

Description

Vehicle control method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of artificial intelligence, and more particularly to the field of automated driving, autonomous parking, and intelligent transportation technologies, and is applicable to cruise memory parking and low-speed assisted driving scenarios.

Background

With the development of artificial intelligence technology, automatic driving technology is gradually emerging. For example, the vehicle cruise control memorizes parking and low-speed assist driving, and the like. However, in an autonomous driving environment, there are often indefinite factors such as obstacles, which seriously affect the safety of the autonomous driving of the vehicle.

Disclosure of Invention

The disclosure provides a vehicle control method, a device, an apparatus and a storage medium.

According to an aspect of the present disclosure, there is provided a vehicle control method including:

selecting a target reference point from preset reference points on a vehicle according to the driving direction of the vehicle, and determining a distance calculation parameter associated with the driving direction of the vehicle;

determining a separation distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter and the position information of the target obstacle;

and controlling the vehicle to run according to the spacing distance between the target obstacle and the vehicle.

According to another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle control method of any of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute a vehicle control method of any one of the embodiments of the present disclosure.

According to the scheme of the embodiment of the disclosure, the accuracy of distance calculation between the target obstacle and the vehicle can be improved, and the safety and reliability of vehicle control are further improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1A is a flow chart of a vehicle control method provided in accordance with an embodiment of the present disclosure;

FIG. 1B is a top view of a vehicle provided in accordance with an embodiment of the present disclosure;

FIG. 2A is a flow chart of a vehicle control method provided in accordance with an embodiment of the present disclosure;

FIG. 2B is a schematic view of a vehicle traveling straight ahead provided in accordance with an embodiment of the present disclosure;

FIG. 2C is a schematic illustration of a vehicle being backed straight according to an embodiment of the present disclosure;

FIG. 2D is a schematic view of a vehicle turning right and forward provided in accordance with an embodiment of the present disclosure;

FIG. 2E is a schematic illustration of a right turn in reverse of a vehicle provided in accordance with an embodiment of the present disclosure;

FIG. 3 is a flow chart of a vehicle control method provided in accordance with an embodiment of the present disclosure;

FIG. 4 is a flow chart of a vehicle control method provided in accordance with an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a vehicle control device provided according to an embodiment of the present disclosure;

fig. 6 is a block diagram of an electronic device for implementing a vehicle control method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

FIG. 1A is a flow chart of a vehicle control method provided in accordance with an embodiment of the present disclosure; the embodiment of the disclosure is suitable for controlling the running condition of the automatic driving vehicle. The method is particularly suitable for controlling the running of the automatic driving vehicle under the cruising memory parking or low-speed auxiliary driving scene. The method may be performed by a vehicle control device, which may be implemented in software and/or hardware. In particular, may be integrated in a control device of an autonomous vehicle. As shown in fig. 1A, the vehicle control method provided by the present embodiment may include:

s101, selecting a target reference point from preset reference points on the vehicle according to the driving direction of the vehicle, and determining distance calculation parameters related to the driving direction of the vehicle.

The driving direction of the vehicle in the embodiment can comprise four types of forward straight running, reverse straight running, forward turning and reverse turning, wherein the forward turning can further comprise forward left turning and forward right turning; the reversing and turning can further comprise reversing left-turn and reversing right-turn.

The preset reference point in the present embodiment may be a position point selected in advance on the vehicle for assisting in calculating the separation distance between the target obstacle and the vehicle, as the preset reference point on the vehicle. Optionally, in this embodiment, a plurality of preset reference points may be selected on the vehicle, and the position coordinates of each preset reference point in the vehicle body coordinate system are used as the position information of each preset reference point.

The distance calculation parameter of the present embodiment may be a parameter other than the position information of the target reference point and the target obstacle, which is required to be used when calculating the separation distance between the target obstacle and the vehicle. It may be a parameter inherent to the vehicle, such as the center of the vehicle body, or a parameter related to the running state of the vehicle, such as the center of turning of the vehicle; it may also be a predetermined parameter for ensuring safe driving, such as a predetermined safe distance threshold (e.g. 10 cm).

Optionally, in this embodiment, different preset reference points and distance calculation parameters may be selected according to different driving directions of the current vehicle, so as to assist in calculating the separation distance between the target obstacle and the vehicle. Specifically, different target reference point screening rules and distance calculation parameter screening rules may be set in advance for different driving directions, and in this case, a target reference point may be determined from a plurality of preset reference points on the vehicle according to the current driving direction of the vehicle and according to the target reference point screening rule and the calculation parameter screening rule corresponding to the driving direction, and a distance calculation parameter associated with the driving direction of the vehicle may be determined.

And S102, determining the spacing distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter and the position information of the target obstacle.

The target obstacle of the present embodiment may be all obstacles included in a certain range around the vehicle body (i.e., obstacles around the vehicle); or the part of the obstacles which are selected from all the obstacles around the vehicle body and are positioned in the dangerous area related to the driving direction of the vehicle can be selected, wherein the dangerous area related to the driving direction of the vehicle can be the area which can be collided in the process that the vehicle drives based on the driving direction. Alternatively, the target obstacle of the present embodiment may be a static obstacle in the environment, such as a pillar of a parking lot and a fence on a road. Or may be a dynamic obstacle in the environment, such as other vehicles and pedestrians in the road. The number of target obstacles in the present embodiment is one or more.

The embodiment can acquire environmental data around a vehicle based on an ultrasonic sensor and visual perception equipment (such as a camera, a laser radar and the like), perform fusion analysis on the environmental data acquired without the equipment, determine all obstacles around the vehicle body, then use all the obstacles as target obstacles, or screen out obstacles which may collide with the vehicle as the target obstacles, and further determine the coordinate position of the target obstacles in a vehicle coordinate system as the position information of the target obstacles. Optionally, the present embodiment may analyze the environment data based on an image processing algorithm and/or a pre-trained neural network model to determine the target obstacle and the position information of the target obstacle.

Optionally, in this embodiment, there are many ways to determine the separation distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter, and the position information of the target obstacle, which is not limited herein. One way that can be achieved is: for each target obstacle, the position information of the target reference point and the distance calculation parameter are input into a distance estimation model trained in advance, and the model can analyze the distance between the target obstacle and the vehicle based on the input information. Another way to implement this is: different separation distance calculation formulas are preset for different vehicle driving directions, namely, a formula for calculating the separation distance between the target obstacle and the vehicle based on the position information of the target obstacle, the position information of the target reference point and the distance calculation parameter. At this time, a corresponding separation distance calculation formula may be selected based on the current vehicle driving direction, and the position information of each target obstacle, the position information of the target reference point, and the distance calculation parameter may be sequentially substituted into the selected separation distance calculation formula to calculate the separation distance between the target obstacle and the vehicle.

And S103, controlling the vehicle to run according to the spacing distance between the target obstacle and the vehicle.

Alternatively, the present embodiment may control the vehicle to travel based on determining the separation distance between each target obstacle and the vehicle. Specifically, the separation distance between each target obstacle and the vehicle may be input into a decision module of the autonomous vehicle, and the decision module may control the vehicle to travel away from the target obstacle based on the separation distance between each target obstacle and the vehicle, in combination with a vehicle travel route and vehicle own travel data, such as speed, acceleration, steering wheel torque, and the like, such as to avoid the target obstacle by decelerating and changing lanes. If the target barrier is close to the vehicle and is difficult to avoid, the vehicle can be controlled to brake so as to avoid collision with the target barrier.

According to the scheme of the embodiment of the disclosure, different target reference points are selected from preset reference points according to different vehicle running directions, different distance calculation parameters are determined, the spacing distance between a target obstacle and a vehicle is calculated according to the position information of the target reference points, and then the vehicle is controlled to run based on the spacing distance. Compare in prior art and directly measure the interval distance between vehicle and the target obstacle through the sensor, like ultrasonic sensor, very big improvement the interval distance between obstacle and the vehicle confirm the accuracy, and then control the vehicle based on this accurate interval distance and travel, fine guarantee vehicle automatic driving's security and reliability.

Optionally, the present embodiment may select at least four preset reference points on the vehicle, namely, a first reference point, a second reference point, a third reference point and a fourth reference point. As shown in fig. 1B, the first reference point is an end point, i.e., point a, of an arc AB between the head side S1 and the door side S2 on the head side S1 in a plan view of the vehicle; the second reference point is the end point of the arc AB on the door side S2, i.e., point B; the third reference point is an intersection point between the rear side S3 and the door side S2 in the plan view of the vehicle, i.e., point C; the fourth reference point is a point D, which is an intersection of the rear axle L and the door side S4 in the vehicle plan view. The four preset reference points selected by the embodiment can ensure that the distance between the target obstacle and the vehicle can be accurately calculated on the premise of selecting the reference points as few as possible.

FIG. 2A is a flow chart of a vehicle control method provided in accordance with an embodiment of the present disclosure; FIG. 2B is a schematic view of a vehicle traveling straight ahead provided in accordance with an embodiment of the present disclosure; FIG. 2C is a schematic illustration of a vehicle traveling in reverse according to an embodiment of the present disclosure; FIG. 2D is a schematic view of a vehicle turning right and forward provided in accordance with an embodiment of the present disclosure; fig. 2E is a schematic diagram of a right turn in reverse of a vehicle provided according to an embodiment of the present disclosure. The disclosed embodiment further explains in detail how to select a target reference point from preset reference points on a vehicle according to a vehicle driving direction, determine a distance calculation parameter associated with the vehicle driving direction, and determine a separation distance between a target obstacle and the vehicle according to position information of the target reference point, the distance calculation parameter, and position information of the target obstacle, on the basis of the above-mentioned embodiments, and as shown in fig. 2A to 2E, a vehicle control method provided by the embodiment may include:

s201, selecting a target reference point from preset reference points on the vehicle according to the driving direction of the vehicle, and determining distance calculation parameters related to the driving direction of the vehicle.

Optionally, the preset reference points of this embodiment include: the end point of an arc between the head side and the door side on the head side in the vehicle top view is a first reference point; the end point of the arc on the door side, i.e., the second reference point; a third reference point which is an intersection point between the rear side and the door side in the vehicle top view; the fourth reference point is the intersection of the rear axle and the door side in the vehicle top view. The embodiment may select different preset reference points and distance calculation parameters according to different driving directions of the current vehicle to assist in calculating the separation distance between the target obstacle and the vehicle.

Specifically, the method comprises the following steps: if the vehicle driving direction is forward straight, selecting a first reference point and a second reference point of preset reference points on the vehicle as target reference points (namely, a point A and a point B in the figure 2B); and the safe distance threshold value is used as a distance calculation parameter related to the driving direction of the vehicle.

If the vehicle driving direction is reverse straight driving, selecting a second reference point and a third reference point in preset reference points on the vehicle as target reference points (namely points B and C in FIG. 2C); and the safe distance threshold value is used as a distance calculation parameter related to the driving direction of the vehicle.

If the vehicle driving direction is forward turning, selecting a first reference point, a second reference point and a third reference point of preset reference points on the vehicle as target reference points (namely, a point A, a point B and a point C in the figure 2D); and the center of the vehicle body (i.e., point O in fig. 2D)_body) The center of the turn (i.e., point O in fig. 2D)_circle) The arc diameter extension length (i.e., FF' in fig. 2D) and the safe distance threshold value are used as distance calculation parameters associated with the vehicle traveling direction.

If the vehicle is traveling in a reverse turn, a first reference point, a third reference point, and a fourth reference point (i.e., points A, C, and D in FIG. 2E) of the preset reference points on the vehicle are selected,as a target reference point; and the center of the vehicle body (i.e., point O in fig. 2E)_body) The center of the turn (i.e., point O in fig. 2E)_circle) And a safe distance threshold as a distance calculation parameter associated with the vehicle travel direction.

According to the embodiment, the corresponding target reference points and the distance calculation parameters are determined for the driving directions of various vehicles in the above mode, and a guarantee is provided for the follow-up accurate calculation of the spacing distance between the target obstacles in different driving directions of the vehicles.

And S202, determining the spacing distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter and the position information of the target obstacle.

Optionally, in this embodiment, a direction in which the vehicle moves straight ahead is taken as a positive X-axis direction of the body coordinate system, and an axle direction is taken as a positive Y-axis direction of the body coordinate system, where a door direction on a left side is a positive Y-axis direction. And the first reference point A has a coordinate of (x)_A，y_A) The coordinates of the second reference point B are (x)_B，y_B) (ii) a The coordinates of the third reference point C are (x)_C，y_C) And y_B|＝|y_C| is equal to half the vehicle width. The coordinates of the fourth reference point D are (x)_D，y_D) (ii) a Center of vehicle body O_bodyHas the coordinates of (0,0) and the turning center O_circleHas the coordinates of (x)_c，y_c)。

It is noted that, as shown in FIGS. 2B to 2E, the drawings

The position can be regarded as an obstacle, and all the obstacles in fig. 2B-2E can be regarded as target obstacles in the embodiment; it is also possible to use only the obstacle in the shadow area around the vehicle in fig. 2B-2E as the target obstacle, and then use the target obstacle in the figure

For example, a manner of calculating the separation distance between the target obstacle and the vehicle in each case will be described.

If the vehicle is runningThe direction of travel is straight ahead, as shown in FIG. 2B, if

That is, the target obstacle is located at the front shadow on the vehicle head side, the separation distance between the target obstacle and the vehicle is calculated based on the following formula (1).

Wherein d is_{obs_i}Is a target obstacle P_iA separation distance from the vehicle;

and

respectively representing an X coordinate and a Y coordinate of the target barrier under a vehicle body coordinate system; x is the number of_AAnd y_ARespectively representing an X coordinate and a Y coordinate of the first reference point A under a vehicle body coordinate system; x is the number of_BAnd y_BRespectively representing the X coordinate and the Y coordinate of the second reference point B under the vehicle body coordinate system; d_{side_threshold}For the safe distance threshold value set in advance for the door side, the safe distance threshold value is preferably set to a small value, such as 10 cm.

If it is

That is, the target obstacle is located at the both-door-side shadow, the separation distance between the target obstacle and the vehicle is calculated based on the following formula (2).

Wherein d is_{obs__i}Is a target obstacle P_iA separation distance from the vehicle;

and

respectively representing the X coordinate and the Y coordinate of the target barrier under a vehicle body coordinate system; x is the number of_BAnd y_BRespectively representing the X coordinate and the Y coordinate of the second reference point B in the vehicle body coordinate system; d is a radical of_{side_threshold}Is a safety distance threshold value set for the door side in advance.

If it is

If not, the target obstacle is spaced from the vehicle by a distance d_{obs_i}＝D_max，D_maxIs a preset maximum default value.

If the vehicle is traveling in a reverse straight direction, as shown in FIG. 2C, if

That is, the target obstacle is located at the rear shadow of the vehicle rear measurement, and the separation distance between the target obstacle and the vehicle is calculated based on the following formula (3).

Wherein, d is_{obs__i}Is a target obstacle P_iA separation distance from the vehicle;

and

respectively representing the X coordinate and the Y coordinate of the target barrier under a vehicle body coordinate system; x is the number of_CAnd y_CRespectively representing the X coordinate and the Y coordinate of the third reference point C under the vehicle body coordinate system; d is a radical of_{side_threshold}A safety distance threshold value set for the door side in advance.

If it is

That is, the target obstacle is located at the shadow on both door sides, the separation distance between the target obstacle and the vehicle can be calculated based on the above formula (2) similarly to when the target obstacle is located at the shadow on the door side in the straight ahead.

If it is

If not, the target obstacle is spaced from the vehicle by a distance d_{obs_i}＝D_max，D_maxIs a preset maximum default value.

If the vehicle is turning forward, as shown in FIG. 2D, the vehicle is turned forward and right, for example, according to the center O of the vehicle body_body(0,0) and the turning center O_circle(x_c，y_c) The turning radius R ═ O can be determined_bodyO_circleL. When the vehicle turns forwards and rightwards, each point of the vehicle body winds around O_circleThe rotating radius of the target barrier rotating around the turning center under the vehicle body coordinate system

Wherein the content of the first and second substances,

and

respectively representing the X coordinate and the Y coordinate of the target barrier under a vehicle body coordinate system; x is the number of_CAnd y_CRespectively represent the X coordinate and the Y coordinate of the third reference point C in the vehicle body coordinate system.

Accordingly, the driving coverage area is a shaded area as in 2D.

In particular, if

I.e., the target obstacle is located within the annular region EFGH of fig. 2D, the separation distance between the target obstacle and the vehicle can be calculated based on the following equations (4) to (6).

Wherein d is_{obs_i}Is a target obstacle P_iA separation distance from the vehicle;

and

respectively representing the X coordinate and the Y coordinate of the target barrier under a vehicle body coordinate system; x is the number of_AAnd y_ARespectively representing an X coordinate and a Y coordinate of the first reference point A under a vehicle body coordinate system; x is the number of_BAnd y_BRespectively representing the X coordinate and the Y coordinate of the second reference point B under the vehicle body coordinate system; x is the number of_CAnd y_CRespectively representing the X coordinate and the Y coordinate of the third reference point C under the vehicle body coordinate system; o is_circleIs the turning center; r_obsAround O for the target obstacle in the vehicle body coordinate system_circleRadius of rotation during rotation; h and G are respectively two end points of the driving coverage area; e and F' are respectively the intersection points of the extension lines of the head side and the two door sides in the vehicle top view, and F is the center points of the circular arcs corresponding to the first reference point A and the second reference point B of the circular arcs. d_FF′Is the arc diameter extension length.

If it is

And is

I.e. the target obstacle is located in the shaded area on the left side of BC in fig. 2D, at this timeThe separation distance between the target obstacle and the vehicle may be calculated based on the following formula (7).

Wherein d is_{obs__i}Is a target obstacle P_iA separation distance from the vehicle;

and

respectively representing an X coordinate and a Y coordinate of the target barrier under a vehicle body coordinate system; x is the number of_BAnd y_BRespectively representing the X coordinate and the Y coordinate of the second reference point B under the vehicle body coordinate system; d_{side_threshold}A safety distance threshold value which is set for the vehicle door side in advance; x is the number of_CAnd represents the X coordinate of the third reference point C in the vehicle body coordinate system.

If it is

And is

That is, the target obstacle is located in the annular region DEHI in fig. 2D, and the real-time motion trajectory of the target obstacle relative to the vehicle is an arc

Wherein, the Q point is an obstacle P_iFuture collision points with the side of the vehicle body. Let the coordinate of unknown point Q be Q (x)_Q，y_Q) From the characteristics of the rotational motion of the vehicle, the following relationships are given:

|O_circleI|＝|O_circleD|＝R-|y_D|＝R-y_B (8)

|O_circleQ|＝|O_circleP_i|＝R_obs (9)

thus, at Rt Δ O_circleAmong DQs, we can obtain according to the pythagorean theorem:

the coordinates of the future collision point Q can be estimated based on the above equations (8) to (10):

it can then be determined that:

wherein, O_circleIs the turning center; r is a turning radius; d is a fourth reference point, y_DThe Y coordinate of the fourth datum point under the vehicle body coordinate system is equal to; y coordinate Y of second reference point B in vehicle body coordinate system_B(ii) a Point Q is an obstacle P_iThe future collision point with the side of the vehicle body has the coordinate (x) under the vehicle body coordinate system_Q，y_Q)；P_iCoordinates of a target obstacle in a vehicle body coordinate system, including

And

R_obsaround O for the target obstacle in the vehicle body coordinate system_circleRadius of rotation during rotation; d_{obs__i}Is a target obstacle P_iAt a distance from the vehicle

Is a target obstacle P_iRelative to the real-time movement of the vehicleA moving track; i P_iQ | is the linear distance between the target obstacle and point Q.

If it is

If not, the target obstacle is spaced from the vehicle by a distance d_{obs_i}＝D_max，D_maxIs a preset maximum default value.

It should be noted that, if the vehicle driving state is a forward left turn, the calculation process is similar to the forward right turn, and only the driving coverage area needs to be calculated symmetrically along the X axis, which is not described herein again.

If the vehicle is turning in reverse, as shown in FIG. 2E, taking the example of turning right in reverse, the turning radius R of the vehicle and the turning radius R of the target obstacle are rotated around the turning center in the body coordinate system_obsThe calculation method of (2) is already described in the above forward right turn, and is not described again. The driving coverage area is a shaded area as in 2E.

At this time, if

I.e., the target obstacle is located within the annular region CIKJ of fig. 2E, the separation distance between the target obstacle and the vehicle can be calculated based on the following formula (13).

Wherein d is_{obs__i}Is the separation distance between the target obstacle and the vehicle;

an X coordinate of the target barrier under a vehicle body coordinate system is set; c is a third reference point, x_CAn X coordinate of the third reference point C under the vehicle body coordinate system; d is a fourth reference point; r_obsAround O for the target obstacle in the vehicle body coordinate system_circleRadius of rotation during rotation.

If it is

And is

That is, the target obstacle is located in the shaded area on the right side of IE in fig. 2E, the separation distance between the target obstacle and the vehicle can be calculated based on the following equation (14).

Wherein d is_{obs__i}Is the separation distance between the target obstacle and the vehicle;

and

respectively representing the X coordinate and the Y coordinate of the target barrier under a vehicle body coordinate system; x is the number of_DAnd y_DRespectively representing the X coordinate and the Y coordinate of the fourth reference point D under the vehicle body coordinate system; d_{side_threshold}Is a safety distance threshold value set for the door side in advance.

If it is

And is

That is, the target obstacle is located in the annular region MNBF in fig. 2E, and the real-time motion trajectory of the target obstacle relative to the vehicle is an arc

Wherein, the Q point is an obstacle P_iFuture collision points with the side of the vehicle body. Let the coordinate of unknown point Q be Q (x)_Q，y_Q) From the characteristics of the rotational motion of the vehicle, the following relationships are given:

|O_circleN|＝R+|y_D| (15)

|O_circleQ|＝|O_circleP_i|＝R_obs (16)

therefore, at t Δ O_circleIn NQ, the following can be obtained according to Pythagorean theorem:

the coordinates of the future collision point Q can be estimated based on the above equations (15) to (18):

it can then be determined that:

wherein, O_circleIs the turning center; r is a turning radius; n is the symmetry point of the fourth reference point D relative to the X axis, y_DIs the Y coordinate of the fourth reference point in the vehicle body coordinate system, which is equal to the Y coordinate Y of the second reference point B in the vehicle body coordinate system_B(ii) a The point Q is a future collision point of the obstacle and the side of the vehicle body, and the coordinate of the point Q in the vehicle body coordinate system is (x)_Q，y_Q)；P_iCoordinates of a target obstacle in a vehicle body coordinate system, including

And

R_obsaround O for the target obstacle in the vehicle body coordinate system_circleRadius of rotation during rotation; d_{obs_i}Is a target obstacle P_iTo and from vehiclesSeparation distance

Is a target obstacle P_iA real-time motion trajectory relative to the vehicle; i P_iQ | is the linear distance between the target obstacle and point Q.

If it is

If not, the target obstacle is spaced from the vehicle by a distance d_{obs_i}＝D_max，D_maxIs a preset maximum default value.

It should be noted that, if the vehicle driving state is reversing left turn, the calculation process is similar to the reversing right turn, and only the driving coverage area needs to be calculated symmetrically along the X axis, which is not described herein again.

And S203, controlling the vehicle to run according to the spacing distance between the target obstacle and the vehicle.

According to the scheme of the embodiment of the disclosure, specific ways are given according to different vehicle driving directions, different target reference points and distance calculation modes are selected according to the different vehicle driving directions, the spacing distance between the target obstacle and the vehicle is calculated, the accuracy of determining the spacing distance is further improved, and a guarantee is provided for controlling the vehicle to drive safely and accurately based on the spacing distance.

Fig. 3 is a schematic diagram of a vehicle control method according to an embodiment of the present disclosure, and the embodiment of the present disclosure further explains in detail how to determine a target obstacle on the basis of the above embodiment, and as shown in fig. 3, the vehicle control method provided in this embodiment may include:

s301, determining a dangerous area related to the vehicle driving direction according to the vehicle driving direction and the position information of a preset reference point on the vehicle.

The dangerous area is an area which is possibly collided with an obstacle in the environment in the driving process of the vehicle, the driving direction of the vehicle is different, and the related dangerous areas are different. Alternatively, the danger zone associated with the direction of travel of the vehicle may be formed by a plurality of sub-zones. For example, as shown in fig. 2D, when the vehicle driving direction is forward right turn, the associated danger zones include: the shaded region FGHE, i.e. sub-region 1, the shaded region EHID, i.e. sub-region 2, and the left region of BC, i.e. sub-region 3.

Optionally, in this embodiment, an implementation manner of determining the dangerous area associated with the vehicle driving direction according to the vehicle driving direction and the position information of the preset reference point on the vehicle may be: the driving direction of the vehicle and the position information of the preset reference point on the vehicle are input into a pre-trained dangerous area division model, and the dangerous area corresponding to the driving direction can be analyzed by the model based on the input parameters.

Another way to implement this is: according to different vehicle driving directions, different reference points are selected from a plurality of preset reference points on the vehicle to determine dangerous areas corresponding to the different vehicle driving directions. The vehicle running direction at this time can be divided into two types of straight running (including forward turning and reverse turning) and turning (forward turning and reverse turning). Specifically, the method comprises the following steps:

and if the vehicle driving direction is forward straight driving or reverse straight driving, determining a dangerous area related to the vehicle driving direction according to the position information of the first reference point and the third reference point in the preset reference points on the vehicle.

Specifically, as shown in fig. 2B, the manner of determining the dangerous area associated with straight ahead movement from the position information of the first reference point a and the third reference point C is as follows:

in the case of the example shown in figure 2B,

the area of (1), namely the front shadow area of the vehicle head side is taken as a first sub-area of the danger area associated with the forward straight line; wherein, the first and the second end of the pipe are connected with each other,

an X coordinate of the target barrier under a vehicle body coordinate system is set; x is the number of_BAnd the X coordinate of the second reference point B in the vehicle body coordinate system is shown.

In the case of the example shown in figure 2B,

i.e. the two door-side (i.e. left and right) shadow zones, as the second and third sub-zones of the forward straight-ahead associated hazard zone. Wherein the content of the first and second substances,

an X coordinate of the target barrier under a vehicle body coordinate system is taken as an X coordinate; x is a radical of a fluorine atom_BThe X coordinate of the second reference point B under the vehicle body coordinate system is shown; x is a radical of a fluorine atom_CAnd the X coordinate of the third reference point C in the vehicle body coordinate system.

As shown in fig. 2C, the manner of determining the dangerous area associated with the reverse straight traveling according to the position information of the first reference point a and the third reference point C is as follows:

in the case of the embodiment shown in FIG. 2C,

the area (2), namely a shadow area behind the vehicle tail measurement, is used as a first sub-area of a dangerous area associated with backing and straight going; wherein, the first and the second end of the pipe are connected with each other,

an X coordinate of the target barrier under a vehicle body coordinate system is taken as an X coordinate; x is the number of_CAnd the X coordinate of the third reference point C in the vehicle body coordinate system.

In the case of the embodiment shown in FIG. 2C,

i.e. the two door-side (i.e. left and right) shadow zones as the second and third sub-zones of the danger zone associated with reversing straight. Wherein the content of the first and second substances,

an X coordinate of the target barrier under a vehicle body coordinate system is taken as an X coordinate; x is a radical of a fluorine atom_BThe X coordinate of the second reference point B under the vehicle body coordinate system is taken as the coordinate; x is the number of_CAnd the X coordinate of the third reference point C in the vehicle body coordinate system.

And if the vehicle driving direction is forward turning or reverse turning, determining a dangerous area related to the vehicle driving direction according to the position information of a second reference point B and a third reference point C in the preset reference points on the vehicle.

Specifically, as shown in fig. 2D, the mode of determining the dangerous area related to the forward turning from the position information of the second reference point B and the third reference point C is as follows:

in the case of the embodiment shown in figure 2D,

i.e. the ring area EFGH in fig. 2D as the first sub-area of the danger zone associated with straight-ahead right turn. Wherein the content of the first and second substances,

an X coordinate of the target barrier under a vehicle body coordinate system is set; x is a radical of a fluorine atom_AAnd the X coordinate of the second reference point A in the vehicle body coordinate system.

In the case of the embodiment shown in figure 2D,

the region BC left shaded region and the annular region DEHI in fig. 2D are respectively used as the second sub-region and the third sub-region of the straight right turn associated danger region. Wherein, the first and the second end of the pipe are connected with each other,

an X coordinate of the target barrier under a vehicle body coordinate system is taken as an X coordinate; x is the number of_AAn X coordinate of the first reference point A under the vehicle body coordinate system; x is a radical of a fluorine atom_CAnd the X coordinate of the third reference point C in the vehicle body coordinate system.

It should be noted that the determination method of the dangerous area associated with the forward left turn is similar to the determination method of the dangerous area associated with the forward right turn, and only the dangerous area associated with the forward right turn needs to be symmetric along the X axis, which is not described herein again.

As shown in fig. 2E, the mode of determining the dangerous area related to the reverse turning from the position information of the second reference point B and the third reference point C is as follows:

in the case of the example shown in figure 2E,

i.e. the annular region CIKJ in fig. 2E as the first sub-region of the danger zone associated with reversing right. Wherein the content of the first and second substances,

an X coordinate of the target barrier under a vehicle body coordinate system is set; x is the number of_CAnd the X coordinate of the third reference point C in the vehicle body coordinate system.

In the case of the example shown in figure 2E,

the area of (a), that is, the hatched area on the right side of IE in fig. 2E and the annular area MNBF are respectively used as the second sub-area and the third sub-area of the danger area associated with reversing right turn. Wherein the content of the first and second substances,

an X coordinate of the target barrier under a vehicle body coordinate system is taken as an X coordinate; x is the number of_AAn X coordinate of the first reference point A under the vehicle body coordinate system; x is a radical of a fluorine atom_CAnd the X coordinate of the third reference point C in the vehicle body coordinate system.

It should be noted that the determination manner of the dangerous area associated with reversing left turn is similar to the determination manner of the dangerous area associated with reversing right turn, and only the dangerous area associated with reversing right turn needs to be symmetrical along the X axis, which is not described herein again.

According to the method and the device, different preset reference points are selected to determine the dangerous areas corresponding to different vehicle driving directions aiming at different vehicle driving directions, the complexity of the dangerous area determining process can be reduced by reducing the using number of the preset reference points, and meanwhile the comprehensiveness and the accuracy of the dangerous area determination can be guaranteed.

S302, determining a target obstacle from the obstacles around the vehicle according to the position information of the obstacles around the vehicle and the dangerous area.

The obstacles around the vehicle are all obstacles contained in a certain range around the vehicle body. I.e. all obstacles contained in the environmental data acquired by the ultrasonic sensor and the visual perception device. Position information of obstacles around the vehicle may be determined based on the collected environmental data.

Optionally, the present embodiment may sequentially determine whether the obstacle around the vehicle falls into the dangerous area determined in S301 based on the position coordinates, such as the X-axis coordinates, of the obstacle around the vehicle, and if the obstacle falls into the dangerous area, the obstacle around the vehicle is taken as the target obstacle.

S303, selecting a target reference point from preset reference points on the vehicle according to the driving direction of the vehicle, and determining a distance calculation parameter related to the driving direction of the vehicle.

And S304, determining the spacing distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter and the position information of the target obstacle.

And S305, controlling the vehicle to run according to the spacing distance between the target obstacle and the vehicle.

According to the scheme of the embodiment of the disclosure, the dangerous area related to the vehicle driving direction is determined according to the vehicle driving direction and the position information of the preset reference point on the vehicle, and then the obstacles around the vehicle in the dangerous area are used as the target obstacles to calculate the spacing distance between the target obstacles and the vehicle. According to the scheme, when the target obstacles are screened from the obstacles around the vehicle, the obstacle position is used as driving, the positions around the vehicle are not used as driving, namely the position coordinates of each obstacle are judged at first, the obstacles influencing the driving safety of the vehicle are selected as the target obstacles, the subsequent interval distance is calculated, and other unrelated obstacles are not considered. Through screening the barrier leading, can effectively practice thrift system consumption, compare in the strategy of screening the barrier according to regional division around the vehicle, this scheme adapts to engineering practice more. And according to turning radius and center during the turn, also bring the automobile body side coverage area into the danger area, can accurate effective protection automobile body side not collided by the barrier, further guaranteed the security of vehicle driving.

Fig. 4 is a schematic diagram of a vehicle control method according to an embodiment of the present disclosure, and the embodiment of the present disclosure further explains in detail how to control the vehicle to run according to the separation distance between the target obstacle and the vehicle, and as shown in fig. 4, the vehicle control method provided by the present embodiment may include:

s401, selecting a target reference point from preset reference points on the vehicle according to the driving direction of the vehicle, and determining distance calculation parameters related to the driving direction of the vehicle.

S402, determining the spacing distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter and the position information of the target obstacle.

And S403, determining collision obstacles from the target obstacles according to the spacing distance between the target obstacles and the vehicle.

The collision obstacle is a target obstacle that first transmits a collision with the vehicle in the course of traveling based on the vehicle traveling direction.

Optionally, in the present embodiment, when determining the collision obstacle from the target obstacles according to the separation distance between the target obstacle and the vehicle, the separation distance between each target obstacle and the vehicle may be compared, and the target obstacle with the smallest separation distance from the vehicle may be used as the collision obstacle.

And S404, controlling the vehicle to run according to the braking distance and the spacing distance between the collision obstacle and the vehicle.

The braking distance is the shortest braking distance required when the vehicle stops from the current running state, namely the distance required from issuing a braking instruction to stopping the vehicle. Optionally, the braking distance of the present embodiment may be a fixed value set in advance, or may be updated in real time according to vehicle driving data (such as driving speed, acceleration, steering wheel torque, and the like).

Optionally, the braking distance in this embodiment may be one or more, and if the braking distance is one, the braking instruction may be issued immediately when the distance between the colliding obstacle and the vehicle is smaller than the braking distance, so as to control the vehicle to stop before colliding with the obstacle, otherwise, the vehicle is controlled to continue to run according to the vehicle running data.

If the braking distance is multiple, multiple distance intervals can be divided based on the multiple braking distances, different control strategies are configured for the different distance intervals, the corresponding control strategies can be determined by judging the distance interval in which the spacing distance between the collision obstacle and the vehicle falls, and the vehicle is controlled to run based on the determined control strategies. For example, if the braking distance is a first distance and a second distance, and the first distance is smaller than the second distance, if the distance between the collision obstacle and the vehicle is smaller than the first distance, it indicates that the collision obstacle is closer to the vehicle.

If the distance between the collision obstacle and the vehicle is greater than the first distance and less than the second distance, the distance between the collision obstacle and the vehicle is not particularly close, but the collision is possible, and in order to ensure the driving safety of the vehicle, the control strategy at the moment is to immediately issue a deceleration command and control the vehicle to run at a decelerated speed.

Optionally, if the braking distance in this embodiment is dynamically changed in real time, the determining manner of the braking distance may be: and determining the braking distance of the vehicle at the current moment according to the running speed of the vehicle at the current moment, the system command transmission time delay and the braking deceleration.

Specifically, the braking distance of the vehicle at the current time may be calculated by the following formula (21).

d_brake＝vt_delay+v²/|a_brake| (21)

Wherein d is_brakeThe braking distance of the vehicle at the current moment; v is the running speed of the vehicle at the current moment; t is t_delayTransmitting time delay for the system instruction of the vehicle at the current moment; | a_brakeThe braking deceleration of the vehicle at the present moment.

The scheme adaptively updates the braking distance according to the real-time driving data of the vehicle so as to decide the optimal time for triggering the emergency braking according to the spacing distance between the collision barrier and the vehicle and the braking distance. To improve the robustness of the vehicle control.

According to the scheme of the embodiment of the disclosure, after the spacing distance between the target obstacle and the vehicle is determined according to the vehicle running direction, the position information of the target obstacle and the position information of the preset reference point on the vehicle, the collision obstacle is screened out from the target obstacle based on the spacing distance, and the vehicle is controlled to run according to the relationship between the spacing distance between the collision obstacle and the vehicle and the braking distance. According to the scheme, the collision obstacles are selected from the target obstacles, and compared with the braking distance, the vehicle is controlled to run, each target obstacle does not need to be analyzed, and the accuracy and the efficiency of vehicle control are improved.

Optionally, according to the braking distance and the separation distance between the collision obstacle and the vehicle, another way of controlling the vehicle to run in the embodiment is as follows: the vehicle is controlled to travel according to a vehicle travel pattern, a braking distance, and a separation distance between the collision obstacle and the vehicle.

The vehicle driving mode may be a mode selected by a driver when the vehicle automatically drives, and may include, but is not limited to: low-speed assistant driving, high-speed assistant driving, cruise memory parking and the like.

According to the embodiment, when the vehicle control strategy is formulated according to the braking distance and the spacing distance between the collision obstacle and the vehicle, the safer vehicle control strategy can be determined by further combining the vehicle running mode. For example, when the separation distance between the target obstacle and the vehicle is smaller than the braking distance, if the vehicle running mode is the low-speed assist driving or the cruise memory parking, the braking command may be issued immediately to control the vehicle to stop before colliding with the obstacle. If the vehicle running mode is high-speed auxiliary driving, in order to avoid the situation that the vehicle is turned over due to emergency braking, a deceleration instruction can be issued, and the vehicle is controlled to be braked after the running speed is reduced in an inching brake mode. According to the scheme, when the vehicle is controlled based on the braking distance and the spacing distance between the collision obstacle and the vehicle, the driving mode of the vehicle is considered, and the safety and the robustness of vehicle driving are further improved.

Fig. 5 is a schematic structural diagram of a vehicle control device provided according to an embodiment of the present disclosure, which is suitable for controlling the driving of an autonomous vehicle. The method is particularly suitable for controlling the running of the automatic driving vehicle under the cruising memory parking or low-speed auxiliary driving scene. The device can be configured in a control device of an automatic driving vehicle and realized by software and/or hardware, and the device can realize the vehicle control method of any embodiment of the disclosure. As shown in fig. 5, the vehicle control device 500 includes:

a reference point selection module 501, configured to select a target reference point from preset reference points on a vehicle according to a vehicle driving direction;

a parameter determination module 502 for determining a distance calculation parameter associated with the vehicle driving direction;

a distance calculation module 503, configured to determine a separation distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter, and the position information of the target obstacle;

and a vehicle control module 504, configured to control the vehicle to run according to a separation distance between the target obstacle and the vehicle.

According to the scheme of the embodiment of the disclosure, different target reference points are selected from preset reference points according to different vehicle running directions, different distance calculation parameters are determined, the spacing distance between a target obstacle and a vehicle is calculated according to the position information of the target reference points, and then the vehicle is controlled to run based on the spacing distance. Compare in prior art and directly measure the interval distance between vehicle and the target obstacle through the sensor, like ultrasonic sensor, very big improvement the interval distance between obstacle and the vehicle confirm the accuracy, and then control the vehicle based on this accurate interval distance and travel, fine guarantee vehicle automatic driving's security and reliability.

Further, the presetting of the reference points includes: a first reference point, a second reference point, a third reference point and a fourth reference point;

the first datum point is an end point of an arc between the head side and the door side on the head side in a vehicle top view;

the second datum point is an end point of the arc on the side of the vehicle door;

the third reference point is an intersection point between the vehicle tail side and the vehicle door side in the vehicle top view;

the fourth reference point is an intersection point of the rear axle and the door side in the vehicle plan view.

Further, the reference point selecting module 501 is specifically configured to:

if the vehicle driving direction is forward straight, selecting a first reference point and a second reference point in preset reference points on the vehicle as target reference points;

if the vehicle running direction is reverse running, selecting a second reference point and a third reference point in preset reference points on the vehicle as target reference points;

if the vehicle driving direction is forward turning, selecting a first reference point, a second reference point and a third reference point in preset reference points on the vehicle as target reference points;

and if the vehicle running direction is reverse turning, selecting a first reference point, a third reference point and a fourth reference point of preset reference points on the vehicle as target reference points.

Further, the parameter determining module 502 is specifically configured to:

if the vehicle driving direction is forward straight driving or reverse straight driving, the safety distance threshold value is used as a distance calculation parameter related to the vehicle driving direction;

if the vehicle driving direction is a forward turning, taking the vehicle body center, the turning center, the arc diameter extension length and the safe distance threshold value as distance calculation parameters related to the vehicle driving direction;

and if the vehicle driving direction is reverse turning, taking the vehicle body center, the turning center and the safe distance threshold value as distance calculation parameters related to the vehicle driving direction.

Further, the vehicle control device 500 further includes:

the dangerous area determining module is used for determining a dangerous area related to the vehicle driving direction according to the vehicle driving direction and the position information of a preset reference point on the vehicle;

and the target obstacle screening module is used for determining the target obstacles from the obstacles around the vehicle according to the position information of the obstacles around the vehicle and the dangerous area.

Further, the hazardous area determination module is specifically configured to:

if the vehicle driving direction is forward turning or reverse turning, determining a dangerous area related to the vehicle driving direction according to the position information of a first reference point and a third reference point in preset reference points on the vehicle;

and if the driving direction of the vehicle is forward straight driving or reverse straight driving, determining a dangerous area related to the driving direction of the vehicle according to the position information of a second reference point and a third reference point in the preset reference points on the vehicle.

Further, the vehicle control module 502 includes:

a collision obstacle screening unit for determining a collision obstacle from the target obstacles based on a separation distance between the target obstacles and the vehicle;

and a vehicle control unit for controlling the vehicle to run according to the braking distance and the spacing distance between the collision obstacle and the vehicle.

Further, the vehicle control unit is specifically configured to:

the vehicle is controlled to travel according to a vehicle travel pattern, a braking distance, and a separation distance between the collision obstacle and the vehicle.

Further, the vehicle control device 500 includes:

and the braking distance determining module is used for determining the braking distance of the vehicle at the current moment according to the running speed of the vehicle at the current moment, the system instruction transmission time delay and the braking deceleration.

The product can execute the method provided by any embodiment of the disclosure, and has corresponding functional modules and beneficial effects of the execution method.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the driving data (such as the speed, the driving direction, the position information and the like) of the vehicle, the position information of the obstacle, the inherent parameters (such as the position coordinate of the center point of the vehicle, the position coordinate of the reference point and the like) of the vehicle meet the regulations of relevant laws and regulations, and do not violate the common and orderly laws and customs.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 6 illustrates a schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 6, the apparatus 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The computing unit Y01, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

A number of components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, a mouse, or the like; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 601 executes the respective methods and processes described above, such as the vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 608. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 600 via ROM 602 and/or communications unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the vehicle control method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome. The server may also be a server of a distributed system, or a server incorporating a blockchain.

Artificial intelligence is the subject of research that makes computers simulate some human mental processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), both at the hardware level and at the software level. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge map technology and the like.

Cloud computing (cloud computing) refers to a technology system that accesses a flexibly extensible shared physical or virtual resource pool through a network, where resources may include servers, operating systems, networks, software, applications, storage devices, and the like, and may be deployed and managed in a self-service manner as needed. Through the cloud computing technology, high-efficiency and strong data processing capacity can be provided for technical application and model training of artificial intelligence, block chains and the like.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (21)

1. A vehicle control method comprising:

selecting a target reference point from preset reference points on a vehicle according to the driving direction of the vehicle, and determining a distance calculation parameter associated with the driving direction of the vehicle;

determining the spacing distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter and the position information of the target obstacle;

and controlling the vehicle to run according to the spacing distance between the target obstacle and the vehicle.

2. The method of claim 1, wherein the preset reference points comprise: a first reference point, a second reference point, a third reference point and a fourth reference point;

the first datum point is an end point of an arc between the head side and the door side on the head side in a vehicle top view;

the second reference point is an end point of the arc on the side of the vehicle door;

the third reference point is an intersection point between the rear side and the door side in the vehicle top view;

the fourth reference point is an intersection of the rear axle and the door side in the vehicle plan view.

3. The method of claim 2, wherein selecting the target reference point from the preset reference points on the vehicle according to the vehicle driving direction comprises:

if the vehicle driving direction is forward straight, selecting a first reference point and a second reference point in preset reference points on the vehicle as target reference points;

if the vehicle running direction is reverse running, selecting a second reference point and a third reference point in preset reference points on the vehicle as target reference points;

if the vehicle driving direction is forward turning, selecting a first reference point, a second reference point and a third reference point in preset reference points on the vehicle as target reference points;

and if the vehicle running direction is reverse turning, selecting a first reference point, a third reference point and a fourth reference point of preset reference points on the vehicle as target reference points.

4. The method of claim 1, wherein the determining the vehicle direction of travel associated distance calculation parameter comprises:

if the vehicle driving direction is forward straight driving or reverse straight driving, taking a safe distance threshold value as a distance calculation parameter related to the vehicle driving direction;

if the vehicle driving direction is forward turning, taking a vehicle body center, a turning center, an arc diameter extension length and a safe distance threshold value as distance calculation parameters related to the vehicle driving direction;

and if the vehicle driving direction is reverse turning, taking the vehicle body center, the turning center and a safe distance threshold value as distance calculation parameters related to the vehicle driving direction.

5. The method of any of claims 1-4, further comprising:

determining a dangerous area related to the vehicle driving direction according to the vehicle driving direction and the position information of a preset reference point on the vehicle;

and determining a target obstacle from the obstacles around the vehicle according to the position information of the obstacles around the vehicle and the dangerous area.

6. The method of claim 5, wherein the determining the dangerous area associated with the vehicle driving direction according to the vehicle driving direction and the position information of the preset reference point on the vehicle comprises:

if the vehicle driving direction is forward turning or reverse turning, determining a dangerous area related to the vehicle driving direction according to the position information of a first reference point and a third reference point in preset reference points on the vehicle;

and if the vehicle driving direction is forward straight driving or reverse straight driving, determining a dangerous area related to the vehicle driving direction according to the position information of a second reference point and a third reference point in the preset reference points on the vehicle.

7. The method according to any one of claims 1-6, wherein the controlling the vehicle to travel according to a separation distance between the target obstacle and the vehicle includes:

determining a collision obstacle from the target obstacles according to a separation distance between the target obstacles and the vehicle;

and controlling the vehicle to run according to the braking distance and the spacing distance between the collision obstacle and the vehicle.

8. The method of claim 7, wherein controlling the vehicle to travel as a function of a stopping distance, and a separation distance between the collision obstacle and the vehicle comprises:

controlling the vehicle to travel according to a vehicle travel pattern, a braking distance, and a separation distance between the collision obstacle and the vehicle.

9. The method of claim 7 or 8, further comprising:

and determining the braking distance of the vehicle at the current moment according to the running speed of the vehicle at the current moment, the system instruction transmission time delay and the braking deceleration.

10. A vehicle control apparatus comprising:

the datum point selection module is used for selecting a target datum point from preset datum points on the vehicle according to the driving direction of the vehicle;

the parameter determination module is used for determining distance calculation parameters related to the vehicle driving direction;

the distance calculation module is used for determining the spacing distance between the target obstacle and the vehicle according to the position information of the target reference point, the distance calculation parameter and the position information of the target obstacle;

and the vehicle control module is used for controlling the vehicle to run according to the spacing distance between the target obstacle and the vehicle.

11. The apparatus of claim 10, wherein the preset reference points comprise: a first reference point, a second reference point, a third reference point and a fourth reference point;

the first datum point is an end point of an arc between the head side and the door side on the head side in a vehicle top view;

the second reference point is an end point of the arc on the side of the vehicle door;

the third reference point is an intersection point between the rear side and the door side in the vehicle top view;

the fourth reference point is an intersection of the rear axle and the door side in the vehicle plan view.

12. The apparatus of claim 11, wherein the fiducial point selection module is specifically configured to:

if the vehicle driving direction is forward straight, selecting a first reference point and a second reference point in preset reference points on the vehicle as target reference points;

if the vehicle running direction is reverse straight running, selecting a second reference point and a third reference point in preset reference points on the vehicle as target reference points;

if the vehicle driving direction is forward turning, selecting a first reference point, a second reference point and a third reference point in preset reference points on the vehicle as target reference points;

and if the vehicle driving direction is reverse turning, selecting a first reference point, a third reference point and a fourth reference point from preset reference points on the vehicle as target reference points.

13. The apparatus of claim 10, wherein the parameter determination module is specifically configured to:

if the vehicle driving direction is forward straight driving or reverse straight driving, taking a safe distance threshold value as a distance calculation parameter related to the vehicle driving direction;

if the vehicle driving direction is forward turning, taking a vehicle body center, a turning center, an arc diameter extension length and a safe distance threshold value as distance calculation parameters related to the vehicle driving direction;

and if the vehicle driving direction is reverse turning, taking the vehicle body center, the turning center and a safe distance threshold value as distance calculation parameters related to the vehicle driving direction.

14. The apparatus of any of claims 10-13, further comprising:

the dangerous area determining module is used for determining a dangerous area related to the vehicle driving direction according to the vehicle driving direction and the position information of a preset reference point on the vehicle;

and the target obstacle screening module is used for determining the target obstacle from the obstacles around the vehicle according to the position information of the obstacles around the vehicle and the dangerous area.

15. The apparatus of claim 14, wherein the hazardous area determination module is specifically configured to:

if the vehicle driving direction is forward turning or reverse turning, determining a dangerous area related to the vehicle driving direction according to the position information of a first reference point and a third reference point in preset reference points on the vehicle;

and if the vehicle driving direction is forward straight driving or reverse straight driving, determining a dangerous area related to the vehicle driving direction according to the position information of a second reference point and a third reference point in the preset reference points on the vehicle.

16. The apparatus of any of claims 10-15, wherein the vehicle control module comprises:

a collision obstacle screening unit for determining a collision obstacle from the target obstacles according to a separation distance between the target obstacle and the vehicle;

a vehicle control unit for controlling the vehicle to travel according to a braking distance and a separation distance between the collision obstacle and the vehicle.

17. The device according to claim 16, wherein the vehicle control unit is specifically configured to:

controlling the vehicle to travel according to a vehicle travel pattern, a braking distance, and a separation distance between the collision obstacle and the vehicle.

18. The apparatus of claim 16 or 17, further comprising:

and the braking distance determining module is used for determining the braking distance of the vehicle at the current moment according to the running speed of the vehicle at the current moment, the system instruction transmission time delay and the braking deceleration.

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the vehicle control method of any one of claims 1-9.

20. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle control method according to any one of claims 1 to 9.

21. A computer program product comprising a computer program which, when executed by a processor, implements a vehicle control method according to any one of claims 1-9.

Images