CN115158306A - Vehicle avoidance method and device, terminal device and storage medium - Google Patents
Vehicle avoidance method and device, terminal device and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses a vehicle avoiding method, a device, terminal equipment and a storage medium, wherein the method comprises the following steps: acquiring relative driving information of a to-be-cut-in side vehicle and the vehicle; judging whether the relative driving information meets a preset safety condition or not; if the relative driving information meets the preset safety condition, controlling the vehicle to execute a safe and comfortable avoidance mode; if the current position does not meet the preset target position, the vehicle is controlled to carry out emergency braking and/or detour running. The method comprises the steps of acquiring relative driving information of a to-be-cut-in by-pass car and a car, comparing the relative driving information with preset safety conditions, presuming the possibility of the true cut-in of the by-pass car and whether the time for avoiding the car is sufficient or not, selecting a corresponding avoidance mode, improving the accuracy of prediction of the cut-in state of the by-pass car, avoiding the phenomenon that the comfort is sacrificed due to excessive response, avoiding the potential safety hazard due to excessive slow response, and improving the comfort of the car under the condition of ensuring the safety in the cut-in process of the by-pass car.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle avoidance method, a vehicle avoidance device, terminal equipment and a storage medium.
Background
Urban automatic driving requires safety and comfort, and side-car cut-in is a very common scene of urban driving. Urban scenes are complex, and the perception of surrounding vehicles, pedestrians and bicycles cannot be guaranteed to be 100% accurate. Due to the fact that different drivers and different vehicle types have different cut-in urgency degrees, due to the fact that various complex urban road conditions are added, the cut-in track of the side vehicle is difficult to predict accurately. If safety is excessively pursued, the situation that the cut-in by-pass vehicle is subjected to deceleration safety avoidance when the cut-in intention is sensed or predicted is avoided, and the comfort of automatic driving is sacrificed due to wrong sensing and prediction. Safety hazards can be caused if the response to the deceleration of the incoming vehicle is too slow.
Therefore, it is necessary to provide a solution for improving the comfort of the vehicle while ensuring safety in coping with the side cut-in process.
Disclosure of Invention
The invention mainly aims to provide a vehicle avoidance method, a vehicle avoidance device, terminal equipment and a storage medium, and aims to improve the comfort of a vehicle under the condition of ensuring the safety in the process of responding to the cut-in of a side vehicle.
In order to achieve the above object, the present invention provides a vehicle avoidance method, including:
acquiring relative driving information of a to-be-cut-in side vehicle and the vehicle;
judging whether the relative driving information meets a preset safety condition or not;
if the relative driving information meets the preset safety condition, the vehicle is controlled to slowly decelerate so as to avoid impacting a to-be-cut side vehicle;
and if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving.
Optionally, the step of acquiring relative driving information between the to-be-cut-in side car and the own car includes:
acquiring cut-in state parameters of the to-be-cut-in by-pass vehicle;
acquiring corresponding state parameters of the vehicle;
and calculating the relative driving information according to the cut-in state parameters and the coping state parameters.
Optionally, the cut-in state parameter includes orientation information, position information, and/or vehicle speed information of the to-be-cut-in bypass vehicle, the response state parameter includes orientation information, position information, and/or vehicle speed information of the host vehicle, the relative driving information includes included angle degrees, lateral distance, longitudinal distance, and/or driving time, and the step of calculating the relative driving information according to the cut-in state parameter and the response state parameter includes at least one of:
calculating the orientation included angle between the to-be-cut-in side car and the car according to the orientation information of the to-be-cut-in side car and the orientation information of the car to obtain the included angle degree;
according to the position information of the to-be-cut-in side car and the position information of the vehicle, calculating the transverse distance and/or the longitudinal distance between the to-be-cut-in side car and the vehicle;
and calculating the driving time required by the to-be-cut-in side vehicle to drive to the front of the vehicle according to the speed information of the to-be-cut-in side vehicle and the direction information of the vehicle.
Optionally, the step of determining whether the relative driving information meets a preset safety condition includes:
comparing the included angle degree, the transverse distance and/or the driving time in the relative driving information with a preset angle threshold value, a preset distance threshold value and/or a preset time threshold value in a preset safety condition respectively, wherein the preset safety condition comprises: the included angle degree is smaller than the preset angle threshold, the transverse distance is larger than the preset distance threshold, and the running time is larger than the preset time threshold.
Optionally, the step of controlling the host vehicle to perform emergency braking and/or detour driving includes:
controlling the vehicle to carry out emergency braking, calculating a bypassing scheme, and judging whether the bypassing scheme meets an execution condition;
and if the bypassing scheme meets the execution condition, performing bypassing driving according to the bypassing scheme.
Optionally, the step of judging whether the to-be-cut-in bypass and the host vehicle have a collision risk includes:
judging whether the relative acceleration is smaller than a preset threshold value or not;
and if the relative acceleration is not less than a preset threshold value, judging that the to-be-cut-in side car has collision risk with the car.
Optionally, the step of obtaining the cut-in state parameter of the to-be-cut-in bypass includes:
carrying out visual perception on the to-be-cut-in side car through visual perception equipment to obtain visual perception information;
radar detection is carried out on the sidecar to be cut in through radar detection equipment, and radar detection information is obtained;
and carrying out information fusion on the visual perception information and the radar detection information to obtain the cut-in state parameter.
In addition, to achieve the above object, the present invention also provides a vehicle avoidance apparatus including:
the acquisition module is used for acquiring relative driving information of the to-be-cut-in by-pass car and the car;
the judging module is used for judging whether the relative driving information meets a preset safety condition or not;
the first control module is used for controlling the vehicle to slowly decelerate so as to avoid impacting a to-be-cut-in side vehicle if the relative driving information meets a preset safety condition;
and the second control module is used for controlling the vehicle to carry out emergency braking and/or detour driving if the relative driving information does not meet the preset safety condition.
In addition, in order to achieve the above object, the present invention further provides a terminal device, which includes a memory, a processor, and a vehicle avoidance program stored in the memory and operable on the processor, wherein the vehicle avoidance program, when executed by the processor, implements the steps of the vehicle avoidance method as described above.
In addition, to achieve the above object, the present invention also provides a computer readable storage medium having a vehicle avoidance program stored thereon, which when executed by a processor implements the steps of the vehicle avoidance method as described above.
According to the vehicle avoiding method, the vehicle avoiding device, the terminal equipment and the storage medium, the relative driving information of the to-be-cut-in by-pass vehicle and the vehicle is obtained; judging whether the relative driving information meets a preset safety condition or not; if the relative driving information meets the preset safety condition, the vehicle is controlled to slowly decelerate so as to avoid impacting a to-be-cut side vehicle; and if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving. The method comprises the steps of acquiring relative driving information of a to-be-cut-in by-pass car and a car, comparing the relative driving information with preset safety conditions, presuming the possibility of the true cut-in of the by-pass car and whether the time for avoiding the car is sufficient or not, selecting a corresponding avoidance mode, improving the accuracy of prediction of the cut-in state of the by-pass car, avoiding the phenomenon that the comfort is sacrificed due to excessive response, avoiding the potential safety hazard due to excessive slow response, and improving the comfort of the car under the condition of ensuring the safety in the cut-in process of the by-pass car.
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Fig. 1 is a schematic diagram of functional modules of a terminal device to which a vehicle avoidance apparatus of the present invention belongs;
FIG. 2 is a schematic flow chart diagram illustrating a vehicle avoidance method according to an exemplary embodiment of the present invention;
FIG. 3 is a schematic flowchart illustrating the step S10 in the embodiment of FIG. 2;
FIG. 4 is a flowchart illustrating the step S103 in the embodiment of FIG. 3;
FIG. 5 is a schematic diagram illustrating an angle between a to-be-cut-in side car and a direction of a car according to an embodiment of the present invention;
FIG. 6 is a schematic lateral distance diagram of a host vehicle from a sidecar to be cut in according to an embodiment of the present invention;
FIG. 7 is a schematic longitudinal distance between a vehicle to be cut into and the host vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic view illustrating a process of driving a vehicle to be cut into to a position right in front of the vehicle according to an embodiment of the present invention;
fig. 9 is a schematic flow chart of another exemplary embodiment of a vehicle avoidance method of the present invention;
fig. 10 is a detailed flowchart of step S40 in the embodiment of fig. 2.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: obtaining relative driving information of a to-be-cut-in side car and a car; judging whether the relative driving information meets a preset safety condition or not; if the relative driving information meets the preset safety condition, the vehicle is controlled to slowly decelerate so as to avoid impacting a to-be-cut side vehicle; and if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving. The method comprises the steps of acquiring relative driving information of a to-be-cut-in by-pass car and a car, comparing the relative driving information with preset safety conditions, presuming the possibility of the true cut-in of the by-pass car and whether the time for avoiding the car is sufficient or not, selecting a corresponding avoidance mode, improving the accuracy of prediction of the cut-in state of the by-pass car, avoiding the phenomenon that the comfort is sacrificed due to excessive response, avoiding the potential safety hazard due to excessive slow response, and improving the comfort of the car under the condition of ensuring the safety in the cut-in process of the by-pass car.
Specifically, referring to fig. 1, fig. 1 is a functional module schematic diagram of a terminal device to which a vehicle avoidance apparatus of the present invention belongs. The vehicle avoidance device can be a device which is independent of the terminal equipment and can avoid the vehicle, and the device can be borne on the terminal equipment in a hardware or software mode. The terminal device can be an intelligent mobile terminal with a data processing function, such as a mobile phone and a tablet personal computer, and can also be a fixed terminal device or a server with a data processing function.
In this embodiment, the terminal device to which the vehicle avoidance apparatus belongs at least includes an output module 110, a processor 120, a memory 130, and a communication module 140.
The memory 130 stores an operating system and a vehicle avoidance program, and the vehicle avoidance device can store the acquired information of the relative driving information between the to-be-cut-in side vehicle and the vehicle, preset safety conditions, a safe comfort avoidance mode and the like in the memory 130; the output module 110 may be a display screen or the like. The communication module 140 may include a WIFI module, a mobile communication module, a bluetooth module, and the like, and communicates with an external device or a server through the communication module 140.
Wherein the vehicle avoidance program in the memory 130 when executed by the processor implements the steps of:
acquiring relative driving information of a to-be-cut-in side car and a car;
judging whether the relative driving information meets a preset safety condition or not;
if the relative driving information meets the preset safety condition, the vehicle is controlled to slowly decelerate so as to avoid impacting a to-be-cut side vehicle;
and if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving.
Further, the vehicle avoidance program in the memory 130 when executed by the processor further implements the steps of:
acquiring cut-in state parameters of the to-be-cut-in bypass;
acquiring a response state parameter of the vehicle;
and calculating the relative driving information according to the cut-in state parameters and the corresponding state parameters.
Further, the vehicle avoidance program in the memory 130 when executed by the processor further implements the steps of:
calculating the orientation included angle between the to-be-cut-in side car and the car according to the orientation information of the to-be-cut-in side car and the orientation information of the car to obtain the included angle degree;
calculating the transverse distance and/or the longitudinal distance between the to-be-cut-in side car and the vehicle according to the position information of the to-be-cut-in side car and the position information of the vehicle;
and calculating the driving time required by the to-be-cut-in side vehicle to drive to the front of the vehicle according to the speed information of the to-be-cut-in side vehicle and the direction information of the vehicle.
Further, the vehicle avoidance program in the memory 130 when executed by the processor further implements the steps of:
comparing the included angle degree, the transverse distance and/or the running time in the relative running information with a preset angle threshold value, a preset distance threshold value and/or a preset time threshold value in a preset safety condition respectively, wherein the preset safety condition comprises: the included angle degree is smaller than the preset angle threshold, the transverse distance is larger than the preset distance threshold, and the running time is larger than the preset time threshold.
Further, the vehicle avoidance program in the memory 130 when executed by the processor further performs the steps of:
controlling the vehicle to carry out emergency braking, calculating a bypassing scheme, and judging whether the bypassing scheme meets an execution condition;
and if the bypassing scheme meets the execution condition, performing bypassing running according to the bypassing scheme.
Further, the vehicle avoidance program in the memory 130 when executed by the processor further implements the steps of:
judging whether the relative acceleration is smaller than a preset threshold value or not;
and if the relative acceleration is not less than a preset threshold value, judging that the to-be-cut-in by-car and the car have a collision risk.
Further, the vehicle avoidance program in the memory 130 when executed by the processor further implements the steps of:
carrying out visual perception on the to-be-cut-in side car through visual perception equipment to obtain visual perception information;
radar detection is carried out on the to-be-cut-in side car through radar detection equipment, and radar detection information is obtained;
and carrying out information fusion on the visual perception information and the radar detection information to obtain the cut-in state parameter.
According to the scheme, the relative driving information of the to-be-cut-in side car and the vehicle is obtained; judging whether the relative driving information meets a preset safety condition or not; if the relative driving information meets the preset safety condition, the vehicle is controlled to slowly decelerate so as to avoid impacting a to-be-cut side vehicle; and if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving. The method comprises the steps of acquiring relative driving information of a to-be-cut-in by-pass car and a car, comparing the relative driving information with preset safety conditions, presuming the possibility of the true cut-in of the by-pass car and whether the time for avoiding the car is sufficient or not, selecting a corresponding avoidance mode, improving the accuracy of prediction of the cut-in state of the by-pass car, avoiding the phenomenon that the comfort is sacrificed due to excessive response, avoiding the potential safety hazard due to excessive slow response, and improving the comfort of the car under the condition of ensuring the safety in the cut-in process of the by-pass car.
Based on the above terminal device architecture but not limited to the above architecture, embodiments of the method of the present invention are presented.
The executing main body of the method of the embodiment may be a vehicle avoidance device or a terminal device, and the vehicle avoidance device is exemplified in the embodiment.
Referring to fig. 2, fig. 2 is a schematic flow chart of an exemplary embodiment of a vehicle avoidance method of the present invention. The vehicle avoidance method comprises the following steps:
step S10, acquiring relative driving information of a to-be-cut-in side car and the car;
the side-car cut-in is a scene very common to city driving, the city scene is complex, and the sensing of surrounding vehicles, pedestrians and bicycles cannot be guaranteed to be 100% accurate. Due to the fact that different drivers and different vehicle types have different cut-in urgency and slowness degrees, due to the fact that various complex urban road conditions are added, the cut-in track of the side vehicle is difficult to accurately predict.
Specifically, in the embodiment of the present invention, the cut-in state parameter of the to-be-cut-in vehicle and the corresponding state parameter of the vehicle are obtained, and then the relative driving information of the two vehicles is calculated according to the cut-in state parameter and the corresponding state parameter, for example, in the embodiment of the present invention, the included angle between the directions of the vehicle and the vehicle is calculated according to the direction information of the vehicle and the vehicle, and the included angle degree is obtained; the method comprises the steps of calculating the transverse distance between a side vehicle and the vehicle according to position information of the side vehicle and the vehicle, calculating the driving time required for the side vehicle to be cut to drive to the position right ahead of the vehicle according to speed information of the side vehicle and direction information of the vehicle, obtaining relative driving information of the side vehicle to be cut, comparing the relative driving information of the side vehicle to be cut with preset safety conditions, judging the possibility of the side vehicle to be cut and the possibility of the vehicle to be avoided, and further selecting a proper avoidance scheme.
Step S20, judging whether the relative driving information meets a preset safety condition or not;
further, in the process of predicting the cut-in condition of the vehicle, if safety is excessively pursued, and deceleration safety avoidance is performed when the cut-in intention of the cut-in vehicle is sensed or predicted, the comfort of automatic driving is sacrificed due to wrong sensing and prediction, and potential safety hazards are brought if the response to deceleration of the cut-in vehicle is too slow. In order to maximize comfort on the premise of guaranteeing vehicle safety, a critical value of an included angle between the direction of a side vehicle and the direction of the vehicle, namely an angle threshold value, is calculated in advance in the embodiment of the invention; and further setting preset conditions according to the calculated thresholds, and determining an avoidance scheme to be executed by the vehicle by judging whether the relative driving information of the vehicle to be cut into meets the preset conditions.
Step S30, if the relative driving information meets the preset safety condition, controlling the vehicle to slowly decelerate so as to avoid impacting the to-be-cut side vehicle;
furthermore, if the relative driving information of the to-be-cut-in side car is judged to meet the preset condition, the vehicle can be controlled to execute a corresponding avoidance mode.
Specifically, if the included angle between the direction of the to-be-cut-in side vehicle and the direction of the to-be-cut-in side vehicle is smaller than a preset angle threshold, the transverse distance between the to-be-cut-in side vehicle and the to-be-cut-in side vehicle is larger than a distance threshold, and the time required for the to-be-cut-in side vehicle to appear right ahead of the to-be-cut-in side vehicle is larger than a time threshold, it is indicated that the possibility of true cutting-in of the to-be-cut-in side vehicle is low, the avoidance time of the to-be-cut-in side vehicle is sufficient, so that the comfort of the to-be-cut-in side vehicle is not influenced by emergency braking, the to-be-cut-in side vehicle is controlled to execute gentle deceleration avoidance, and the comfort of the to-in vehicle avoidance is ensured.
In the embodiment of the application, the gentle deceleration can be realized by releasing the throttle, and the vehicle is controlled not to be lower than-1.5 m/s 2 The deceleration is carried out to decelerate to a time distance which is kept 1.2s with the front vehicle, wherein the time distance is the distance obtained by multiplying the current speed of the vehicle by 1.2s, when the distance between the vehicle and the front vehicle is 1.2s, the normal driving mode can be recovered,
in addition, if the included angle degree between the direction of the to-be-cut-in side vehicle and the direction of the vehicle is not smaller than a preset angle threshold, or the transverse distance between the to-be-cut-in side vehicle and the vehicle is not larger than a distance threshold, or the time required for the to-be-cut-in side vehicle to appear right ahead of the vehicle is larger than a time threshold, namely the relative driving information of the to-be-cut-in side vehicle does not accord with any one of preset conditions, the possibility that the to-be-cut-in side vehicle is really cut in is higher, or the time for avoiding the vehicle is tighter, emergency braking is required for avoiding, collision risk caused by untimely deceleration is avoided, and safety in the vehicle avoiding process is guaranteed.
And step S40, if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving.
In the embodiment of the application, if the included angle between the direction of the to-be-cut-in side vehicle and the direction of the to-be-cut-in side vehicle is not smaller than a preset angle threshold value, or the transverse distance between the to-be-cut-in side vehicle and the to-be-cut-in side vehicle is not larger than a distance threshold value, or the time required for the to-be-cut-in side vehicle to appear right ahead of the to-be-cut-in side vehicle is larger than a time threshold value, namely the relative driving information of the to-be-cut-in side vehicle does not accord with any one of preset conditions, the relative driving information does not meet the preset safety conditions, the to-be-cut-in side vehicle is controlled to carry out emergency braking and/or detour driving, in the process, the to-be-carried out safe deceleration and avoidance can be carried out by controlling the to carry out emergency braking through the to the side vehicle, meanwhile, the detour scheme can be calculated, and whether the execution condition is judged to be met to the execution condition whether to determine whether to carry out the detour driving, so as to further avoid the occurrence of collision.
In the embodiment, the relative driving information of the to-be-cut-in side car and the vehicle is obtained; judging whether the relative driving information meets a preset safety condition or not; if the relative driving information meets the preset safety condition, the vehicle is controlled to slowly decelerate so as to avoid impacting a to-be-cut side vehicle; and if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving. The method comprises the steps of acquiring relative driving information of a to-be-cut-in by-pass car and a car, comparing the relative driving information with preset safety conditions, presuming the possibility of the true cut-in of the by-pass car and whether the time for avoiding the car is sufficient or not, selecting a corresponding avoidance mode, improving the accuracy of prediction of the cut-in state of the by-pass car, avoiding the phenomenon that the comfort is sacrificed due to excessive response, avoiding the potential safety hazard due to excessive slow response, and improving the comfort of the car under the condition of ensuring the safety in the cut-in process of the by-pass car.
Referring to fig. 3, fig. 3 is a detailed flowchart of step S10 in the embodiment of fig. 2. This embodiment is based on the embodiment shown in fig. 2, in this embodiment, the step S10 includes:
step S101, obtaining cut-in state parameters of the to-be-cut-in by-pass car;
step S102, acquiring corresponding state parameters of the vehicle;
step S103, calculating the relative travel information according to the hand-in state parameter and the corresponding state parameter.
The automatic driving vehicle usually needs to gather the surrounding environment information through a plurality of sensors, and then integrates the information of gathering into unified spatial information, can obtain the state parameter of cutting into of waiting to cut into the side car, and specific process includes:
carrying out visual perception on the to-be-cut-in side car through visual perception equipment to obtain visual perception information;
radar detection is carried out on the to-be-cut-in side car through radar detection equipment, and radar detection information is obtained;
and carrying out information fusion on the visual perception information and the radar detection information to obtain the cut-in state parameter.
Specifically, sensors commonly used for autonomous vehicles include a laser radar, a millimeter wave radar, a camera, and the like, wherein the laser radar can calculate a distance according to a light speed according to a time difference between transmitting and receiving laser light, and because the wavelength of the laser light is short, the surface of a scanned object can be constructed; the millimeter wave radar can emit millimeter waves such as ultrasonic waves, and the millimeter wave seeker has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather and all day time; the camera belongs to the most commonly used sensor, does not need to transmit, and only receives optical signals. Various sensors are installed on the automatic driving automobile, each sensor is provided with a plurality of sensors, the sensors are installed at different positions and angles, firstly, the information obtained by different sensors is different, and therefore integration is needed to be carried out, and the information can be processed only by changing the information into uniform spatial information; secondly, the sensed information is located at different positions and angles, 3D reconstruction needs to be carried out on the image, and three-dimensional reconstruction can be carried out through the characteristic value of the image; different sensors have different sampling frequencies, so time calibration is required; after the spatial calibration and the time calibration are completed, because contradictions may occur between information obtained by different sensors, for example, a wall appears in front of a camera, and a laser radar finds that the camera is a slope, generally, because the accuracy of various sensors is different, the problem of fusing the sensors with different accuracy is involved. The adopted visual perception hardware comprises a front three-eye camera, 2M pixels and a frame rate of 15/60fps; left and right 1 side view cameras, 1M pixels, 30fps, resolution 457 x 237; 2M pixels of a rear-view camera at the tail part, and the frame rate is 30fps. The adopted millimeter wave radar is 5 fifth generation millimeter wave radars which are respectively arranged on the four corners of the vehicle head and the vehicle body, so that visual perception information and radar detection information are collected, information fusion is further carried out, and cut-in state parameters of the side vehicle are obtained.
The vehicle-corresponding state parameters including the direction information and the position information of the vehicle are obtained based on each vehicle body sensor and the positioning system of the vehicle, the relative driving information of the cut-in state parameter of the vehicle to be cut into and the corresponding state parameter of the vehicle is calculated according to the cut-in state parameter of the vehicle to be cut into and the corresponding state parameter of the vehicle, the judgment is carried out according to the relative driving information, and the corresponding avoidance mode is confirmed.
Referring to fig. 4, fig. 4 is a detailed flowchart illustrating step S103 in the embodiment of fig. 3. This embodiment is based on the embodiment shown in fig. 3, in this embodiment, the step S103 includes:
step S1031, calculating the orientation included angle between the to-be-cut-in side car and the vehicle according to the orientation information of the to-be-cut-in side car and the orientation information of the vehicle to obtain an included angle degree;
referring to fig. 5, fig. 5 is a schematic diagram of an included angle between the direction of the to-be-cut-in bypass and the direction of the host vehicle in the embodiment of the present invention, and as shown in fig. 5, an included angle θ between the direction of the to-be-cut-in bypass and the direction of the host vehicle is a required included angle degree, and if the included angle degree is smaller than a pre-calculated angle threshold, it indicates that the possibility of the bypass being cut in is low. In the embodiment of the application, the angle threshold theta-threshold is determined to be 10 degrees by directly adjusting parameters, and in other embodiments, the angle threshold may also be selected or determined according to actual conditions and other determination manners.
Step S1032, calculating the transverse distance and/or the longitudinal distance between the to-be-cut-in side car and the vehicle according to the position information of the to-be-cut-in side car and the position information of the vehicle;
referring to fig. 6, fig. 6 is a schematic diagram of the lateral distance between the to-be-cut-in side car and the host car in the embodiment of the present invention, and as shown in fig. 6, the lateral distance between the to-be-cut-in side car and the host car is D, and if the lateral distance D is greater than a pre-calculated distance threshold, it indicates that the host car has a high possibility of avoiding the cut-in of the side car, that is, the risk of collision is low. In the embodiment of the application, the distance threshold D-threshold is determined to be 1.5m by directly adjusting parameters, and in other embodiments, the distance threshold may also be selected or determined according to actual situations and other determination manners.
Referring to fig. 7, fig. 7 is a schematic longitudinal distance diagram of the to-be-cut-in bypass vehicle and the host vehicle in the embodiment of the present invention, and as shown in fig. 7, the longitudinal distance between the to-be-cut-in bypass vehicle and the host vehicle is L.
Step S1033, calculating the driving time required by the to-be-cut-in side vehicle to drive to the front of the vehicle according to the vehicle speed information of the to-be-cut-in side vehicle and the direction information of the vehicle;
referring to fig. 8, fig. 8 is a schematic diagram illustrating a process of driving a to-be-cut-in by-car to a position right in front of the car according to an embodiment of the present invention, and as shown in fig. 8, a time required for the to-be-cut-in by-car to drive to the position right in front of the car is T, and if the driving time T is greater than a pre-calculated time threshold, it indicates that the avoidance time for the car to cut in by-car is sufficient. In the embodiment of the application, the time threshold T-threshold is determined to be 0.9s by directly adjusting parameters, and in other embodiments, the time threshold may be selected or determined according to actual conditions and other determination manners.
It should be noted that the sequence of the above steps is not limited, and any one or more of the above steps may be used as the relative driving information, and are respectively used for comparing with each preset threshold corresponding to the preset safety condition.
As one embodiment, the included angle degree, the transverse distance and the running time calculated according to the direction information, the position information and the vehicle speed information of the to-be-cut-in side vehicle are used as relative running information of the to-be-cut-in side vehicle, and are used for being compared with preset safety conditions, and then an appropriate avoidance mode is selected according to a comparison result.
According to the scheme, the orientation included angle between the to-be-cut-in side car and the vehicle is calculated according to the orientation information of the to-be-cut-in side car and the orientation information of the vehicle, and the included angle degree is obtained; calculating the transverse distance and/or the longitudinal distance between the to-be-cut-in side car and the vehicle according to the position information of the to-be-cut-in side car and the position information of the vehicle; calculating the driving time required by the to-be-cut-in side car to drive to the front of the car according to the speed information of the to-be-cut-in side car and the direction information of the car; and calculating the relative acceleration according to the speed information of the to-be-cut-in side car, the speed information of the car and the longitudinal distance. The included angle degree, the transverse distance, the longitudinal distance, the running time and/or the relative acceleration calculated according to the orientation information, the position information and the vehicle speed information of the to-be-cut-in side vehicle are used as relative running information of the to-be-cut-in side vehicle and are used for being compared with preset safety conditions, and then an appropriate avoidance mode is selected according to a comparison result, so that the accuracy of a prediction result of a cut-in state of the to-be-cut-in side vehicle can be improved, and the safety and the comfort in the vehicle avoidance process are improved.
Referring to fig. 9, fig. 9 is a schematic flow chart of a vehicle avoidance method according to another exemplary embodiment of the present invention. Based on the embodiment shown in fig. 2, in this embodiment, the step of determining whether the relative driving information satisfies a preset safety condition includes:
step S201, comparing the included angle degree, the transverse distance and/or the driving time in the relative driving information with a preset angle threshold, a preset distance threshold and/or a preset time threshold in the preset safety condition, respectively, wherein the preset safety condition includes: the included angle degree is smaller than the preset angle threshold, the transverse distance is larger than the preset distance threshold, and the running time is larger than the preset time threshold.
Specifically, the larger the angle between the cut-in vehicle and the host vehicle, the larger the true cut-in of the vehicle, and the smaller the possibility of avoiding the host vehicle. Similarly, the smaller the transverse distance between the to-be-cut side car and the car is, the higher the possibility of true cut or forced cut is; the smaller the travel time of the host vehicle to be cut into (the time from the time when the host vehicle appears ahead of the host vehicle in the future) is, the greater the possibility of cut-in is, the smaller the possibility of avoiding the host vehicle is, and the shorter the avoiding time for the host vehicle to cut into the host vehicle.
In the embodiment of the invention, the conditions that the included angle degree of the to-be-cut-in by-car and the car is smaller than the preset angle threshold, the transverse distance is larger than the preset distance threshold and the running time is larger than the preset time threshold are taken as the preset safety conditions, if the relative running information of the to-be-cut-in by-car meets the preset safety conditions, the possibility of true cut-in of the to-be-cut-in by-car is considered to be low, and the avoidance time for the car to cut in by-car is sufficient, the car can be controlled to execute the safe comfort avoidance mode, namely, the car is decelerated in a comfortable manner by releasing the accelerator, and the comfort of the car is improved on the premise that the safety of the to-be-cut-in by-car can be ensured.
Referring to fig. 10, fig. 10 is a detailed flowchart of step S40 in the embodiment of fig. 2. This embodiment is based on the embodiment shown in fig. 2, in this embodiment, the step S40 includes:
step S401, controlling the vehicle to carry out emergency braking, calculating a bypassing scheme, and judging whether the bypassing scheme meets an execution condition;
the possibility of cutting into the side vehicle is low, the cut-in vehicle of the vehicle can be avoided, and only comfortable deceleration is realized by considering comfort; safety deceleration should be considered for a cut that has a high possibility of true cut into a side vehicle and a low possibility of avoiding the own vehicle, for example:
if the included angle degree in the relative driving information is not smaller than a preset angle threshold value, the transverse distance is not larger than a preset distance threshold value, or the driving time is not larger than a preset time threshold value, if one or more of the included angle degree and the transverse distance are met, the relative driving information can be judged not to meet the preset safety condition, and the vehicle is controlled to carry out emergency braking and/or detour driving.
As one embodiment, after the relative driving information of the to-be-cut-in side car and the vehicle is compared with the preset safety condition, if the included angle degree between the direction of the to-be-cut-in side car and the direction of the vehicle is not smaller than the preset angle threshold, or the transverse distance between the to-be-cut-in side car and the vehicle is not larger than the distance threshold, or the time required for the to-be-cut-in side car to appear right ahead of the vehicle is larger than the time threshold, that is, the relative driving information of the to-be-cut-in side car does not accord with any one of the preset conditions, it is indicated that the to-be-cut-in side car is really cut in more likely, or the time for avoiding the vehicle is more urgent, braking and avoiding is required, meanwhile, a detouring scheme can be calculated, and whether the detouring scheme meets the execution condition is determined, if the detouring scheme meets the execution condition, the vehicle is controlled to travel according to a detouring path and a detouring speed in the detouring scheme, so that the risk of collision caused by deceleration is avoided, and the safety in the vehicle avoiding process is ensured.
As one of the embodiments, the acceleration of the emergency brake can be calculated according to the speed information of the to-be-cut-in by-car and the longitudinal distance between the to-be-cut-in by-car and the vehicle, and specifically includes:
a＝(v 2 -v 1 2 )/2L
wherein v is 1 Is the speed of the to-be-cut-in side car, v is the speed of the vehicle, and L is the longitudinal distance between the to-be-cut-in side car and the vehicle.
Specifically, the step of determining whether the bypassing scheme satisfies an execution condition includes:
acquiring surrounding environment information of the host vehicle;
judging whether the detour path has obstacles or not according to the surrounding environment information;
and if the detour path has no obstacle, judging that the detour scheme meets the execution condition.
As one embodiment, the information about the surrounding environment of the vehicle can be acquired by the visual perception device and the radar detection device of the vehicle body, and is mainly used for determining whether an obstacle exists in the detour path calculated by the vehicle, such as determining whether a vehicle exists in the left lane and whether an accelerated vehicle is reserved to pass through the left rear. In addition, in the process of calculating the detour scheme, a transverse track of a border line which runs in the opposite direction of the to-be-cut side vehicle can be planned by using the fixed centripetal acceleration, and the track can be used as a detour path of the to-be-cut side vehicle.
And step S402, if the bypassing scheme meets the execution condition, bypassing according to the bypassing scheme.
If the calculated detour scheme meets the execution condition, the vehicle can be controlled to transversely and reversely steer while emergently braking, and the vehicle can travel along the detour path at a fixed centripetal acceleration, so that the vehicle can be prevented from colliding with a to-be-cut side vehicle.
According to the scheme, if the relative driving information does not meet the preset safety condition, the vehicle is controlled to perform emergency braking and/or detour driving. The method has the advantages that the possibility of actual cutting-in of the side vehicle is presumed according to the comparison result of the relative driving information of the side vehicle to be cut in and the preset safety condition, and whether the time for avoiding the side vehicle is sufficient or not is judged, so that the corresponding avoiding mode is selected, the accuracy of predicting the cutting-in state of the side vehicle is improved, the side vehicle is controlled to be braked and/or driven around in time under the condition that the safety condition is not met, potential safety hazards caused by slow response are avoided, and the safety of the side vehicle in the cutting-in process is improved.
In addition, an embodiment of the present invention further provides a vehicle avoidance apparatus, where the vehicle avoidance apparatus includes:
the acquisition module acquires relative driving information of a to-be-cut-in side vehicle and the vehicle;
the judging module is used for judging whether the relative driving information meets a preset safety condition or not;
the first control module is used for controlling the vehicle to slowly decelerate so as to avoid impacting a to-be-cut-in side vehicle if the relative driving information meets a preset safety condition;
and the second control module is used for controlling the vehicle to carry out emergency braking and/or detour driving if the relative driving information does not meet the preset safety condition.
And judging whether the vehicle is subjected to emergency brake safe avoidance or comfortable deceleration avoidance by releasing the accelerator according to the direction angle of the cut-in side vehicle, the transverse position relation of the vehicle and the predicted time of cutting into the front of the vehicle.
The larger the included angle between the cut-in side car and the car is, the larger the real cut-in of the side car is possible to be, and the smaller the possibility of avoiding the car is. Similarly, the closer the lateral position of the vehicle is, the higher the possibility of true cut or forced cut is; the closer the cut-in timing (the timing at which the cut-in vehicle appears ahead of the own vehicle in the future) is to the current timing, the higher the possibility of cut-in is, and the lower the possibility of avoidance of the own vehicle is.
The possibility of true cut-in of the side vehicle is high, and cut-in with low possibility of avoiding the vehicle is avoided, and safety deceleration should be considered; the possibility of true cut-in of the side vehicle is low, the cut-in vehicle of the vehicle can be avoided, and only comfortable deceleration is realized by considering comfort. If cut into the other car and satisfy following three kinds of condition simultaneously, then this car can be the comfortable speed reduction of pine throttle earlier, guarantees the security simultaneously, avoids the collision risk that the untimely brought of slowing down.
(1) And calculating an included angle theta between the orientation angle of the cut-in side vehicle and the orientation of the vehicle. the angle theta is less than an angle threshold value theta _ threshold;
(2) And calculating the transverse distance D between the cut-in side vehicle and the vehicle. The lateral distance D is greater than a distance threshold D _ threshold;
(3) And calculating the time T required by the cut-in side car to appear in front of the vehicle, wherein the time T is larger than a time threshold T _ threshold.
In addition, in the emergency braking safety avoidance process, if the detour path of the vehicle is judged to meet the execution condition, the vehicle can run along the detour path while braking and decelerating in an emergency manner so as to avoid collision.
According to the scheme, the relative driving information of the cut-in side car is calculated and compared with the preset threshold value respectively, and the appropriate avoidance scheme is selected according to the comparison result. The calculated relative driving information of the cut-in by-pass car is compared with the preset threshold value respectively, the possibility of the true cut-in by-pass car is deduced, and whether the time for avoiding the car is sufficient or not is selected, so that a corresponding avoiding mode is selected, the accuracy of predicting the cut-in state of the by-pass car is improved, the phenomenon that the comfort is sacrificed due to excessive response is avoided, the potential safety hazard is avoided due to slow response, and the safety and the comfort in the cut-in process of the car for the by-pass car are improved.
In addition, an embodiment of the present invention further provides a terminal device, where the terminal device includes a memory, a processor, and a vehicle avoidance program that is stored on the memory and is executable on the processor, and the vehicle avoidance program implements the steps of the vehicle avoidance method described above when executed by the processor.
Since the vehicle avoidance program is executed by the processor, all technical solutions of all the embodiments are adopted, so that at least all the beneficial effects brought by all the technical solutions of all the embodiments are achieved, and detailed description is omitted here.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a vehicle avoidance program is stored on the computer-readable storage medium, and when being executed by a processor, the vehicle avoidance program implements the steps of the vehicle avoidance method described above.
Since the vehicle avoidance program is executed by the processor, all technical solutions of all the embodiments are adopted, so that at least all the beneficial effects brought by all the technical solutions of all the embodiments are achieved, and detailed description is omitted here.
Compared with the prior art, the vehicle avoiding method, the device, the terminal equipment and the storage medium provided by the embodiment of the invention have the advantages that the relative driving information of the to-be-cut-in by-pass vehicle and the vehicle is obtained; judging whether the relative driving information meets a preset safety condition or not; if the relative driving information meets the preset safety condition, the vehicle is controlled to slowly decelerate so as to avoid impacting a to-be-cut side vehicle; and if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving. The method comprises the steps of acquiring relative driving information of a to-be-cut-in by-pass car and a car, comparing the relative driving information with preset safety conditions, presuming the possibility of the true cut-in of the by-pass car and whether the time for avoiding the car is sufficient or not, selecting a corresponding avoidance mode, improving the accuracy of prediction of the cut-in state of the by-pass car, avoiding the phenomenon that the comfort is sacrificed due to excessive response, avoiding the potential safety hazard due to excessive slow response, and improving the comfort of the car under the condition of ensuring the safety in the cut-in process of the by-pass car.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controlled terminal, or a network device) to execute the method of each embodiment of the present application.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle avoidance method is characterized by comprising the following steps:
acquiring relative driving information of a to-be-cut-in side car and a car;
judging whether the relative driving information meets a preset safety condition or not;
if the relative driving information meets the preset safety condition, controlling the vehicle to slowly decelerate so as to avoid impacting the to-be-cut-in side vehicle;
and if the relative driving information does not meet the preset safety condition, controlling the vehicle to carry out emergency braking and/or detour driving.
2. The vehicle avoidance method according to claim 1, wherein the step of acquiring the relative travel information of the host vehicle and the to-be-cut-in nearby vehicle includes:
acquiring cut-in state parameters of the to-be-cut-in by-pass vehicle;
acquiring a response state parameter of the vehicle;
and calculating the relative driving information according to the cut-in state parameters and the coping state parameters.
3. The vehicle avoidance method according to claim 2, wherein the cut-in state parameter includes orientation information, position information, and/or vehicle speed information of the to-be-cut-in nearby vehicle, the response state parameter includes orientation information, position information, and/or vehicle speed information of the own vehicle, the relative travel information includes an angle degree, a lateral distance, a longitudinal distance, and/or a travel time, and the step of calculating the relative travel information from the cut-in state parameter and the response state parameter includes at least one of:
calculating the orientation included angle between the to-be-cut-in side car and the car according to the orientation information of the to-be-cut-in side car and the orientation information of the car to obtain the included angle degree;
calculating the transverse distance and/or the longitudinal distance between the to-be-cut-in side car and the vehicle according to the position information of the to-be-cut-in side car and the position information of the vehicle;
and calculating the driving time required by the to-be-cut-in side car to drive to the front of the car according to the speed information of the to-be-cut-in side car and the direction information of the car.
4. The vehicle avoidance method according to claim 3, wherein the step of determining whether the relative travel information satisfies a preset safety condition includes:
the preset safety condition comprises the following steps: the included angle degree is smaller than the preset angle threshold, the transverse distance is larger than the preset distance threshold, and the running time is larger than the preset time threshold.
5. The vehicle avoidance method according to claim 3, wherein the step of controlling the host vehicle to make an emergency braking and/or detour comprises:
controlling the vehicle to carry out emergency braking, calculating a bypassing scheme, and judging whether the bypassing scheme meets an execution condition;
and if the bypassing scheme meets the execution condition, performing bypassing driving according to the bypassing scheme.
6. The vehicle avoidance method according to claim 5, wherein the detour scheme includes a detour path and/or a detour speed, and the step of determining whether the detour scheme satisfies the execution condition includes:
acquiring surrounding environment information of the vehicle;
judging whether the detour path has obstacles or not according to the surrounding environment information;
and if the detour path has no obstacle, judging that the detour scheme meets the execution condition.
7. The vehicle avoidance method according to claim 2, wherein the step of acquiring the cut-in state parameter of the to-be-cut-in nearby vehicle includes:
carrying out visual perception on the to-be-cut-in side car through visual perception equipment to obtain visual perception information;
radar detection is carried out on the sidecar to be cut in through radar detection equipment, and radar detection information is obtained;
and carrying out information fusion on the visual perception information and the radar detection information to obtain the cut-in state parameters.
8. A vehicle avoidance apparatus characterized by comprising:
the acquisition module is used for acquiring relative driving information of the to-be-cut-in by-pass car and the car;
the judging module is used for judging whether the relative driving information meets a preset safety condition or not;
the first control module is used for controlling the vehicle to slowly decelerate so as to avoid impacting a to-be-cut-in side vehicle if the relative driving information meets a preset safety condition;
and the second control module is used for controlling the vehicle to carry out emergency braking and/or detour running if the relative running information does not meet the preset safety condition.
9. A terminal device, characterized in that the terminal device comprises a memory, a processor and a vehicle avoidance program stored on the memory and executable on the processor, the vehicle avoidance program when executed by the processor implementing the steps of the vehicle avoidance method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a vehicle avoidance program which, when executed by a processor, implements the steps of the vehicle avoidance method according to any one of claims 1 to 7.
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| CN202210892337.2A CN115158306B (en) | 2022-07-27 | 2022-07-27 | Vehicle avoidance method, device, terminal equipment and storage medium |
| PCT/CN2023/104120 WO2024022003A1 (en) | 2022-07-27 | 2023-06-29 | Vehicle avoidance method and apparatus, terminal device and storage medium |
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| CN115158306B (en) | 2024-06-04 |
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