CN115535004B

CN115535004B - Distance generation method, device, storage medium and vehicle

Info

Publication number: CN115535004B
Application number: CN202211457958.4A
Authority: CN
Inventors: 周剑文; 史亮
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-11-21
Filing date: 2022-11-21
Publication date: 2023-03-10
Anticipated expiration: 2042-11-21
Also published as: CN115535004A

Abstract

The present disclosure relates to a distance generation method, a device, a storage medium, and a vehicle, wherein the distance generation method includes: acquiring a plurality of obstacles in a surrounding environment of a vehicle; acquiring a predicted path of each obstacle, and taking the obstacle with an overlapping point between the predicted path and a planned path of the vehicle as a target obstacle; acquiring a preset length under the condition that the target obstacle exists; adjusting the preset length according to the type of the target obstacle to generate a target distance, wherein the target distance is used for planning an avoidance path of the vehicle to the target obstacle, and the type comprises: the method comprises the steps that the preset length is adaptively adjusted according to the type of the target barrier, so that the distance for giving the vehicle is generated, the vehicle giving performance of the automatic driving vehicle when the barrier is cut in is improved, and the safety and the running stability of the automatic driving vehicle are improved.

Description

Distance generation method, device, storage medium and vehicle

Technical Field

The present disclosure relates to the field of automatic driving, and in particular, to a distance generation method and apparatus, a storage medium, and a vehicle.

Background

In the related art, when an obstacle is cut into the front of the vehicle, the automatic driving system makes a decision to give way to the vehicle. In the vehicle yielding decision execution process, certain expansion can be performed on the barrier based on safety consideration, so that the vehicle and the barrier cannot collide, and the expanded boundary is the safety distance for vehicle yielding.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a distance generation method, apparatus, storage medium, and vehicle.

According to a first aspect of the embodiments of the present disclosure, there is provided a distance generation method, including: acquiring a plurality of obstacles in a surrounding environment of a vehicle; acquiring a predicted path of each obstacle, and taking the obstacle with an overlapping point between the predicted path and a planned path of the vehicle as a target obstacle; acquiring a preset length under the condition that the target obstacle exists; adjusting the preset length according to the type of the target obstacle to generate a target distance, wherein the target distance is used for planning an avoidance path of the vehicle to the target obstacle, and the type comprises: vulnerable road users and cars.

Optionally, when the type of the target obstacle is a vulnerable road user, the adjusting the preset distance according to the type of the target obstacle to generate a target distance includes: and extending the preset length to generate the target distance.

Optionally, when the type of the target obstacle is an automobile, the adjusting the preset length according to the type of the target obstacle to generate a target distance includes: determining a relative direction of the target obstacle with respect to the vehicle, the relative direction including: the method comprises the following steps of traversing, laterally cutting in and laterally cutting out, wherein the traversing means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a first angle range, the laterally cutting in means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a second angle range, and the laterally cutting out means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a third angle range; and adjusting the preset length according to the relative direction to generate the target distance.

Optionally, in a case that the relative direction is a crossing direction, the adjusting the preset length according to the relative direction to generate the target distance includes: and keeping the preset length unchanged to generate the target distance.

Optionally, when the relative direction is a lateral incision or a lateral incision, the adjusting the preset length according to the relative direction to generate the target distance includes: acquiring the barrier speed of the target barrier on the planned path; acquiring a difference value between the barrier speed and the vehicle speed, and multiplying the difference value by a preset time coefficient to obtain an adaptive distance; subtracting the adaptive distance from the preset length to obtain an adjustment distance; and taking the adjusting distance as the target distance when the adjusting distance is larger than zero.

According to a second aspect of embodiments of the present disclosure, there is provided a distance generation apparatus, the apparatus comprising: a first acquisition module configured to acquire a plurality of obstacles in a surrounding environment of a vehicle; the second acquisition module is configured to acquire a predicted path of each obstacle, and the predicted path and an obstacle with an overlapped point on a planned path of the vehicle are used as a target obstacle; a third obtaining module configured to obtain a preset length in the presence of the target obstacle; an adjusting module configured to adjust the preset length according to a type of the target obstacle to generate a target distance, where the target distance is used for planning an avoidance path of the vehicle to the target obstacle, and the type includes: vulnerable road users and automobiles.

Optionally, in a case that the type of the target obstacle is an automobile, the adjusting module is specifically configured to determine a relative direction of the target obstacle with respect to the vehicle, where the relative direction includes: the method comprises the following steps of crossing, lateral cut-in and lateral cut-out, wherein the crossing means that an included angle between the driving direction of a target obstacle and the driving direction of a vehicle is within a first angle range, the lateral cut-in means that an included angle between the driving direction of the target obstacle and the driving direction of the vehicle is within a second angle range, and the lateral cut-out means that an included angle between the driving direction of the target obstacle and the driving direction of the vehicle is within a third angle range; and adjusting the preset length according to the relative direction to generate the target distance.

According to a third aspect of the embodiments of the present disclosure, there is provided a distance generation apparatus including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: the steps of the distance generation method provided by the first aspect of the present disclosure are implemented.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the distance generation method provided by the first aspect of the present disclosure.

According to a fifth aspect of embodiments of the present disclosure, a vehicle for implementing the steps of the distance generation method provided by the first aspect of the present disclosure is provided.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the preset length is adaptively adjusted according to the type of the target obstacle to generate a distance for vehicle yielding planning, vehicle yielding performance of the automatic driving vehicle when the obstacle is cut in is improved, and vehicle safety and driving stability of automatic driving are improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flow diagram illustrating a method of distance generation in accordance with an exemplary embodiment;

FIG. 2 is a driving scenario shown in accordance with an exemplary embodiment;

FIG. 3 illustrates an example of a preset length in accordance with an exemplary embodiment;

FIG. 4 is a block diagram illustrating an apparatus in accordance with an exemplary embodiment;

FIG. 5 is a block diagram illustrating another apparatus in accordance with an exemplary embodiment;

FIG. 6 is a functional block diagram schematic of a vehicle shown in an exemplary embodiment;

fig. 7 is a block diagram illustrating yet another apparatus according to an example embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

It should be noted that all actions of acquiring signals, information or data in the present application are performed under the premise of complying with the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

In the related art, the distance of the vehicle to be yielded is a fixed value. The inventor believes that this situation may lead to poor safety and smoothness of the autonomous vehicle, for example, when cut-in by another vehicle at close distance, the fixed distance of departure results in insufficient longitudinal planning space, resulting in hard braking. For VRUs (vulnerable Road Users), such as pedestrians, bicycles and motorcycles, the vehicle-yielding distance is short, so that the vehicle may be too close to the pedestrian, thereby bringing danger.

In order to solve the problems, the application provides a distance generation method, the preset length is adaptively adjusted according to the type of the target obstacle to generate a distance for vehicle yielding planning, the vehicle yielding performance of the automatic driving vehicle when the obstacle is cut in is improved, and the safety and the running stability of the automatic driving vehicle are improved.

Fig. 1 is a flowchart illustrating a distance generation method according to an exemplary embodiment, which is used in a terminal, as shown in fig. 1, and includes the following steps.

In step S110, a plurality of obstacles in the surrounding environment of the vehicle is acquired.

For example, the surrounding environment of the vehicle is obtained through a sensing module of the vehicle, such as an on-board camera, an on-board radar, etc., and the obtained environment information is transmitted to a vehicle decision layer, where the decision layer includes a model or algorithm for identifying whether an obstacle exists in the environment information, where the obstacle may be a pedestrian, a bicycle, an automobile, etc.

In step S120, a predicted path of each obstacle is obtained, and an obstacle having an overlapping point between the predicted path and the planned path of the vehicle is used as a target obstacle.

In an example, after the obstacles are obtained, the sensing module obtains motion information of each obstacle, and the like, a motion model is established for each obstacle in the decision layer, and a predicted path of the obstacle is obtained, wherein the predicted path is a prediction of a future motion path of the obstacle. As shown in fig. 2, fig. 2 is a driving scenario shown according to an exemplary embodiment, after the vehicle 220 having obstacles around the vehicle 210 is detected, the motion information of the vehicle 220, such as speed, acceleration, driving direction, etc., is obtained, the motion model of the vehicle 220 is built, and the predicted path 240 thereof is obtained.

The decision layer obtains a planned path of the vehicle, wherein the planned path is used for representing a motion path of the vehicle in the future, and the planned path can be generated in advance or obtained by calculating the vehicle according to the motion state of the vehicle. For example, the planned movement generated by the vehicle 210 before the decision layer is obtained represents the future movement of the vehicle 210, such as the future speed, acceleration, and the like, and the planned path 230 is obtained by modeling the movement of the vehicle 210 according to the planned movement.

And the decision layer judges whether an overlapping point exists between the predicted path of each obstacle and the planned path, and if the overlapping point exists, the corresponding obstacle collides with the vehicle and is taken as a target obstacle. As shown in fig. 2, if there is an overlap point 250 between the predicted path 240 and the planned path 230, the vehicle 220 is regarded as a target obstacle.

In step S130, in the case where the target obstacle exists, a preset length is acquired.

And when the target obstacle exists, the situation that the vehicle is possibly collided is indicated, the decision-making layer makes a vehicle giving decision and generates a vehicle giving decision. In this application, in the planning of the decision-making of giving way, need acquire earlier and predetermine length, predetermine length and be a length that has set up in advance according to actual conditions, through the certain inflation to target barrier length, perhaps to the inflation of possible collision range, the expanded border is exactly predetermine length, if the average 60km/h of the speed of a motor vehicle under the normal conditions, the time of making the reaction is 3s, then will predetermine length and set up 50 meters, perhaps, according to the automobile body length of self, will predetermine length and set up 3 times as automobile body length with predetermineeing length. For example, as shown in fig. 3, fig. 3 is an example of a preset length shown according to an exemplary embodiment, where the preset length 320 is a certain distance from the overlapping point 250 to the vehicle, and the certain distance actually expands a collision range between the vehicle and the target obstacle to reserve a certain space, so as to ensure that the vehicle and the target obstacle do not collide with each other.

In step S140, the preset length is adjusted according to the type of the target obstacle to generate a target distance, where the target distance is used to plan an avoidance path of the vehicle to the target obstacle, and the type includes: vulnerable road users and cars.

After the decision-making layer obtains the preset length, the preset length is adjusted according to the type of the target barrier, the adjusted length is the distance for giving the vehicle, the type of the target barrier at least comprises a weak road user and a vehicle, and the weak road user comprises a pedestrian, a bicycle and a motorcycle, so that the vehicle can use the specific distance for giving the vehicle when facing different barriers, and the vehicle giving performance of the automatic driving vehicle when aiming at different barrier types is improved.

After obtaining the target distance for yielding, the decision layer plans a path for avoiding the obstacle by using the target distance, as shown in fig. 3, the decision layer obtains a distance 310 from the overlap point 250 to the vehicle 210, where the distance 310 is a distance before the vehicle collides with the target obstacle, subtracts the target distance 320 from the distance 310 to obtain a remaining distance 330, and plans a path for the vehicle to avoid the vehicle 210 by using the remaining distance 330.

According to the distance generation method, the preset length is adjusted according to the type of the target obstacle to generate the distance for vehicle yielding planning, the vehicle yielding performance of the automatic driving vehicle when the obstacle is cut in is improved, and the safety and the running stability of the automatic driving vehicle are improved.

Optionally, when the type of the target obstacle is a vulnerable road user, the adjusting the preset length according to the type of the target obstacle to generate a target distance includes:

and extending the preset length to generate the target distance.

The decision layer obtains information of the target obstacle, for example, when the information is obtained and the surrounding environment is sensed, the type of the target obstacle is identified and judged, and when the type of the target obstacle is a vulnerable road user, the preset length is extended, for example, the preset length can be extended on the basis of the preset length, or a vehicle body length of the vehicle body can be extended on the preset length, and the extended preset length is used as a target distance for vehicle yielding, so that better safety is obtained.

When the type of the target obstacle is an automobile, judging the relative driving direction of the target obstacle relative to the vehicle, wherein the relative direction comprises the following steps: and crossing, wherein crossing refers to that the driving direction of the target obstacle forms an angle with the driving direction of the vehicle within a first angle range, the first angle range is an angle range with 90 degrees as a center, such as 90 +/-5 degrees, wherein +/-5 degrees represents an error, and the first angle range represents that the driving direction of the target obstacle is relatively perpendicular to the driving direction of the vehicle.

The relative direction further comprises: a lateral cut-in or cut-out, the lateral cut-in being defined by a direction of travel of the target obstacle that is at an acute angle, e.g., 0 ° -60 °, to a direction of travel of the vehicle 210, e.g., as shown in fig. 2, the vehicle 220 cuts laterally into the path of travel of the vehicle 210 at an acute angle. And the lateral cut-out means that the included angle between the running direction of the target obstacle and the running direction of the vehicle is within a third angle range, wherein the third angle range is an obtuse angle range such as 100-180 degrees, for example, if the running direction of the vehicle 220 in fig. 2 is turned by 180 degrees, the included angle between the running directions of the vehicle 220 and the vehicle 210 is an obtuse angle.

When the driving directions of the target obstacles are different, the distance between the target obstacle and the vehicle is different, if the target obstacle is cut out laterally, the distance between the target obstacle and the vehicle is quickly shortened, the preset distance can be adjusted according to the driving directions of the target obstacle, and the adjusted length is used as the distance of the vehicle to be given away, so that the vehicle is better adapted to different driving conditions.

Optionally, in a case that the relative direction is a crossing direction, the adjusting the preset length according to the relative direction to generate the target distance includes:

and keeping the preset length unchanged to generate the target distance.

Optionally, when the relative direction is a lateral incision or a lateral incision, the adjusting the preset length according to the relative direction to generate the target distance includes:

acquiring the barrier speed of the target barrier on the planned path;

acquiring a difference value between the barrier speed and the vehicle speed, and multiplying the difference value by a preset time coefficient to obtain an adaptive distance;

subtracting the adaptive distance from the preset length to obtain an adjustment distance;

and taking the adjusting distance as the target distance when the adjusting distance is larger than zero.

In an embodiment of the application, under the condition that the driving direction of the target obstacle is relatively perpendicular to the driving direction of the vehicle, the preset length can be kept unchanged as the target obstacle rapidly passes through a planned path of the vehicle, the preset length is directly used as a target distance for the vehicle to give way, and balance between safety and body feeling is obtained.

In the case that the relative direction of the target obstacle is a lateral cut-in or a lateral cut-out, the target obstacle has a speed in the driving direction of the vehicle, which will delay or accelerate the distance change. For this case, the speed of the projection of the target obstacle in the vehicle driving direction, that is, the speed of the obstacle on the planned path, may be calculated, the speed of the vehicle is subtracted from the speed of the obstacle to obtain a speed difference, and the speed difference is multiplied by a preset time coefficient to obtain an adaptive distance, where the time coefficient is preset, for example, 1s, and the value may be set according to a specific situation, and indicates, to some extent, the time required for the vehicle to make the vehicle-giving action.

And subtracting the adaptive distance from the preset length to obtain an adjustment distance, and judging whether the adjustment distance is greater than zero or not, wherein the adjustment distance cannot be less than zero, and the safety cannot be ensured under the condition of being less than zero.

And when the adjusting distance is larger than zero, taking the distance as the target distance of the vehicle giving way.

As an example, assume that vehicle 220 in FIG. 2 has a velocity V ₂₂₀ Calculating V, wherein the included angle between the current driving direction of the vehicle 220 and the driving direction of the vehicle 210 is theta ₂₂₀ Multiplying by Cos θ to obtain V _{Projection (projector)} This speed is the speed of the obstacle of the vehicle 220 on the planned path of the vehicle 210, which represents the trend of the distance between the two, for example V _{Projection (projector)} The distance between the two vehicles is gradually lengthened, the safety can be guaranteed without keeping a long vehicle offering distance, the preset length can be properly reduced, the sufficient planning distance is guaranteed, the stability of the driving process is guaranteed, and the user body feeling is improved. Then (3 m/s-2 m/s) x 1s =1m, a preset length is used, namely, 5m minus 1m is equal to 4m, the value is greater than zero, the value is taken as the distance for giving the car, and then the car 210 is regulated according to the distance for giving the car, namely, 4mAnd (5) marking off the vehicle path. This calculation process can be expressed as: the vehicle yielding distance = max (a preset length- (projection of the vehicle speed in the vehicle direction-vehicle speed) time coefficient, 0).

According to the embodiment, the preset distance is adjusted according to the driving direction of the target obstacle, and the adjusted length is used as the distance for giving way, so that the driving safety and stability can be better adapted to different driving conditions, the driving safety and the driving stability can be both considered, if the distance between the target obstacle and the vehicle is cut out laterally, the distance between the target obstacle and the vehicle can be shortened rapidly, the preset length is prolonged, sufficient space is reserved, and the safety is guaranteed.

Fig. 4 is a block diagram illustrating a distance generation apparatus according to an example embodiment. Referring to fig. 4, the apparatus includes a first obtaining module 410, a second obtaining module 420, a third obtaining module 430, and an adjusting module 440.

A first acquisition module 410 configured to acquire a plurality of obstacles in a surrounding environment of a vehicle;

a second obtaining module 420 configured to obtain a predicted path of each obstacle, and take an obstacle having an overlapping point between the predicted path and a planned path of the vehicle as a target obstacle;

a third obtaining module 430 configured to obtain a preset length in the presence of the target obstacle;

an adjusting module 440, configured to adjust the preset length according to a type of the target obstacle to generate a target distance, where the target distance is used to plan an avoidance path of the vehicle to the target obstacle, and the type includes: vulnerable road users and cars.

Optionally, in a case that the type of the target obstacle is an automobile, the adjusting module is specifically configured to determine a relative direction of the target obstacle with respect to the vehicle, where the relative direction includes: the method comprises the following steps of traversing, laterally cutting in and laterally cutting out, wherein the traversing means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a first angle range, the laterally cutting in means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a second angle range, and the laterally cutting out means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a third angle range; and adjusting the preset length according to the relative direction to generate the target distance.

With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.

The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the distance generation method provided by the present disclosure.

Fig. 5 is a block diagram illustrating another apparatus 500 for a distance generation method in accordance with an example embodiment. For example, the apparatus 500 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 5, the apparatus 500 may include one or more of the following components: a first processing component 502, a first memory 504, a first power component 506, a multimedia component 508, an audio component 510, a first input/output interface 512, a sensor component 514, and a communication component 516.

The first processing component 502 generally controls overall operation of the device 500, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The first processing component 502 may include one or more first processors 520 to execute instructions to perform all or a portion of the steps of the distance generation method described above. Further, the first processing component 502 can include one or more modules that facilitate interaction between the first processing component 502 and other components. For example, the first processing component 502 can include a multimedia module to facilitate interaction between the multimedia component 508 and the first processing component 502.

The first memory 504 is configured to store various types of data to support operations at the apparatus 500. Examples of such data include instructions for any application or method operating on device 500, contact data, phonebook data, messages, pictures, videos, and so forth. The first memory 504 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

A first power supply component 506 provides power to the various components of the device 500. The first power component 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 500.

The multimedia component 508 includes a screen that provides an output interface between the device 500 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 508 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 500 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 510 is configured to output and/or input audio signals. For example, audio component 510 includes a Microphone (MIC) configured to receive external audio signals when apparatus 500 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in the first memory 504 or transmitted via the communication component 516. In some embodiments, audio component 510 further includes a speaker for outputting audio signals.

The first input/output interface 512 provides an interface between the first processing component 502 and a peripheral interface module, which may be a keyboard, click wheel, button, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor component 514 includes one or more sensors for providing various aspects of state assessment for the apparatus 500. For example, the sensor assembly 514 may detect an open/closed state of the apparatus 500, the relative positioning of the components, such as a display and keypad of the apparatus 500, the sensor assembly 514 may also detect a change in the position of the apparatus 500 or a component of the apparatus 500, the presence or absence of user contact with the apparatus 500, orientation or acceleration/deceleration of the apparatus 500, and a change in the temperature of the apparatus 500. The sensor assembly 514 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 514 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 516 is configured to facilitate communication between the apparatus 500 and other devices in a wired or wireless manner. The apparatus 500 may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 516 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 516 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components for performing the above-described distance generation methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, for example, including the first memory 504 storing instructions, executable by the first processor 520 of the apparatus 500 to perform the distance generation method described above, is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

The apparatus may be a part of a stand-alone electronic device, for example, in an embodiment, the apparatus may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a collection of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip described above may be configured to execute executable instructions (or code) to implement the distance generation method described above. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, such as an integrated circuit or chip that includes a processor, memory, and an interface for communicating with other devices. The executable instructions may be stored in the memory, which when executed by the processor implement the distance generation method described above; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit the executable instructions to the processor for execution, so as to implement the distance generation method described above.

Referring to fig. 6, fig. 6 is a functional block diagram of a vehicle 600 according to an exemplary embodiment. The vehicle 600 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 600 may acquire environmental information of its surroundings through the sensing system 620 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to implement full automatic driving, or present the analysis result to the user to implement partial automatic driving.

Vehicle 600 may include various subsystems such as infotainment system 610, perception system 620, decision control system 630, drive system 640, and computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 600 may be interconnected by wire or wirelessly.

In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.

The communication system 611 may comprise a wireless communication system that may wirelessly communicate with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may utilize an infrared link, bluetooth, or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.

The entertainment system 612 may include a display device, a microphone and a sound, and a user may listen to a radio in the car based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.

In some cases, the voice signal of the user may be acquired through a microphone, and certain control of the vehicle 600 by the user, such as adjusting the temperature in the vehicle, etc., may be implemented according to the analysis of the voice signal of the user. In other cases, music may be played to the user through a stereo.

The navigation system 613 may include a map service provided by a map provider to provide navigation of a route of travel for the vehicle 600, and the navigation system 613 may be used in conjunction with a global positioning system 621 and an inertial measurement unit 622 of the vehicle. The map service provided by the map provider can be a two-dimensional map or a high-precision map.

The sensing system 620 may include several types of sensors that sense information about the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system 621 (the global positioning system may be a GPS system, a beidou system or other positioning system), an Inertial Measurement Unit (IMU) 622, a laser radar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors of internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.

Global positioning system 621 is used to estimate the geographic location of vehicle 600.

The inertial measurement unit 622 is used to sense a pose change of the vehicle 600 based on the inertial acceleration. In some embodiments, the inertial measurement unit 622 may be a combination of an accelerometer and a gyroscope.

Lidar 623 utilizes laser light to sense objects in the environment in which vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.

The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, in addition to sensing objects, the millimeter-wave radar 624 may also be used to sense the speed and/or heading of objects.

The ultrasonic radar 625 may sense objects around the vehicle 600 using ultrasonic signals.

The camera 626 is used to capture image information of the surrounding environment of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the image capturing device 626 may include still images or video stream information.

Decision control system 630 includes a computing system 631 that makes analytical decisions based on information obtained by sensing system 620, and decision control system 630 further includes a vehicle controller 632 that controls the powertrain of vehicle 600, and a steering system 633, throttle 634, and brake system 635 for controlling vehicle 600.

The computing system 631 may operate to process and analyze the various information acquired by the perception system 620 to identify objects, and/or features in the environment surrounding the vehicle 600. The targets may include pedestrians or animals, and the objects and/or features may include traffic signals, road boundaries, and obstacles. The computing system 631 may use object recognition algorithms, structure From Motion (SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map an environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the various information obtained and derive a control strategy for the vehicle.

The vehicle controller 632 may be used to perform coordinated control on the power battery and the engine 641 of the vehicle to improve the power performance of the vehicle 600.

The steering system 633 is operable to adjust the heading of the vehicle 600. For example, in one embodiment, a steering wheel system.

The throttle 634 is used to control the operating speed of the engine 641 and thus the speed of the vehicle 600.

The brake system 635 is used to control the deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheel 644. In some embodiments, the braking system 635 may convert the kinetic energy of the wheels 644 into electrical current. The braking system 635 may also take other forms to slow the rotational speed of the wheel 644 to control the speed of the vehicle 600.

The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.

Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 642 may also provide energy to other systems of the vehicle 600.

The transmission 643 may transmit mechanical power from the engine 641 to the wheels 644. The transmission 643 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 643 may also include other components, such as clutches. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.

Some or all of the functionality of the vehicle 600 is controlled by the computing platform 650. The computing platform 650 can include at least one second processor 651, which second processor 651 can execute instructions 653 stored in a non-transitory computer-readable medium, such as second memory 652. In some embodiments, computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.

The second processor 651 may be any conventional processor, such as a commercially available CPU. Alternatively, the second processor 651 may also include a processor such as a Graphics Processor Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 6 functionally illustrates a processor, memory, and other elements of a computer in the same block, one of ordinary skill in the art will appreciate that the processor, computer, or memory may actually comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different enclosure than the computer. Thus, references to a processor or computer are to be understood as including references to a collection of processors or computers or memories which may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only computations related to the component-specific functions.

In the disclosed embodiment, the second processor 651 may perform the distance generation method described above.

In various aspects described herein, the second processor 651 can be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle and others are executed by a remote processor, including taking the steps necessary to execute a single maneuver.

In some embodiments, the second memory 652 can contain instructions 653 (e.g., program logic), which instructions 653 can be executed by the second processor 651 to perform various functions of the vehicle 600. The second memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the infotainment system 610, the perception system 620, the decision control system 630, the drive system 640.

In addition to instructions 653, second memory 652 may also store data such as road maps, route information, the location, direction, speed, and other such vehicle data of the vehicle, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.

Computing platform 650 may control functions of vehicle 600 based on inputs received from various subsystems (e.g., drive system 640, perception system 620, and decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by sensing system 620. In some embodiments, the computing platform 650 is operable to provide control over many aspects of the vehicle 600 and its subsystems.

Optionally, one or more of these components described above may be mounted separately from or associated with the vehicle 600. For example, the second memory 652 may exist partially or completely separate from the vehicle 600. The aforementioned components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 6 should not be construed as limiting the embodiment of the present disclosure.

An autonomous automobile traveling on a road, such as vehicle 600 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, etc., may be used to determine the speed at which the autonomous vehicle is to be adjusted.

Optionally, the vehicle 600 or a sensory and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict behavior of the identified object based on characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so it is also possible to predict the behavior of a single identified object taking all identified objects together into account. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road being traveled, the curvature of the road, the proximity of static and dynamic objects, and so forth.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may provide instructions to modify the steering angle of the vehicle 600 to cause the autonomous vehicle to follow a given trajectory and/or to maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

The vehicle 600 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the disclosed embodiment is not particularly limited.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the distance generation method described above when executed by the programmable apparatus.

Fig. 7 is a block diagram illustrating yet another apparatus 700 for implementing the distance generation method described above according to an example embodiment. For example, the apparatus 700 may be provided as a server. Referring to fig. 7, the apparatus 700 includes a second processing component 722 that further includes one or more processors, and memory resources, represented by a third memory 732, for storing instructions, e.g., applications, that are executable by the second processing component 722. The application programs stored in the third memory 732 may include one or more modules that each correspond to a set of instructions. Further, the second processing component 722 is configured to execute instructions to perform the distance generation method described above.

The apparatus 700 may also include a second power component 726 configured to perform power management of the apparatus 700, a wired or wireless network interface 750 configured to connect the apparatus 700 to a network, and a second input/output interface 758. The apparatus 700 may operate based on an operating system stored in the third memory 732.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of distance generation, comprising:

acquiring a plurality of obstacles in a surrounding environment of a vehicle;

acquiring a predicted path of each obstacle, and taking the obstacle with an overlapping point between the predicted path and the planned path of the vehicle as a target obstacle;

acquiring a preset length under the condition that the target obstacle exists;

adjusting the preset length according to the type of the target obstacle to generate a target distance, wherein the target distance is used for planning an avoidance path of the vehicle to the target obstacle, and the type comprises: vulnerable road users and cars;

wherein, in a case that the type of the target obstacle is an automobile, the adjusting the preset length according to the type of the target obstacle to generate a target distance includes:

determining a relative direction of the target obstacle with respect to the vehicle, the relative direction including: the method comprises the following steps of crossing, lateral cut-in and lateral cut-out, wherein the crossing means that an included angle between the driving direction of a target obstacle and the driving direction of a vehicle is within a first angle range, the lateral cut-in means that an included angle between the driving direction of the target obstacle and the driving direction of the vehicle is within a second angle range, and the lateral cut-out means that an included angle between the driving direction of the target obstacle and the driving direction of the vehicle is within a third angle range;

and adjusting the preset length according to the relative direction to generate the target distance.

2. The method according to claim 1, wherein in case that the type of the target obstacle is a vulnerable road user, the adjusting the preset length according to the type of the target obstacle to generate a target distance comprises:

and extending the preset length to generate the target distance.

3. The method of claim 1, wherein in the case that the relative direction is a cross direction, the adjusting the preset length according to the relative direction to generate the target distance comprises:

and keeping the preset length unchanged to generate the target distance.

4. The method of claim 1, wherein in the case that the relative direction is a lateral incision or a lateral incision, the adjusting the preset length according to the relative direction to generate the target distance comprises:

acquiring the barrier speed of the target barrier on the planned path;

acquiring a difference value between the speed of the obstacle and the speed of the vehicle, and multiplying the difference value by a preset time coefficient to obtain an adaptive distance;

5. A distance generation apparatus, characterized in that the apparatus comprises:

a first acquisition module configured to acquire a plurality of obstacles in a surrounding environment of a vehicle;

the second acquisition module is configured to acquire a predicted path of each obstacle, and the predicted path and an obstacle with an overlapped point on a planned path of the vehicle are used as a target obstacle;

a third obtaining module configured to obtain a preset length in the presence of the target obstacle;

an adjusting module configured to adjust the preset length according to a type of the target obstacle to generate a target distance, where the target distance is used for planning an avoidance path of the vehicle to the target obstacle, and the type includes: weak road users and automobiles, wherein, in the case that the type of the target obstacle is an automobile, the preset length is adjusted according to the type of the target obstacle to generate a target distance, comprising:

determining a relative direction of the target obstacle with respect to the vehicle, the relative direction including: the method comprises the following steps of traversing, laterally cutting in and laterally cutting out, wherein the traversing means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a first angle range, the laterally cutting in means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a second angle range, and the laterally cutting out means that an included angle between the running direction of the target obstacle and the running direction of the vehicle is within a third angle range;

6. A distance generation apparatus, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the steps of implementing the method of any one of claims 1 to 4.

7. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 4.

8. A vehicle, characterized in that it is adapted to carrying out the steps of the method according to any one of claims 1 to 4.